Improving the Performance of Backward Chained Behavior Trees that use Reinforcement Learning
Mart Kartasev,Justin Salér,Petter Ögren,Mart Kartasev,Justin Salér,Petter Ögren
In this paper we show how to improve the performance of backward chained behavior trees (BTs) that include policies trained with reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control policies. Backward chaining is a design principle for the construction of BTs that combines reactivity with goal directed actions in a struct...
