?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=W-learning%3A+A+simple+RL-based+Society+of+Mind&rft.creator=Humphrys%2C+Mark&rft.subject=Animal+Behavior&rft.subject=Ethology&rft.subject=Artificial+Intelligence&rft.subject=Dynamical+Systems&rft.subject=Machine+Learning&rft.subject=Robotics&rft.description=W-learning+is+a+self-organising+action-selection+scheme+for+systems+with+multiple+parallel+goals%2C+such+as+autonomous+mobile+robots.+It+uses+ideas+drawn+from+the+subsumption+architecture+for+mobile+robots+(Brooks)%2C+implementing+them+with+the+Q-learning+algorithm+from+reinforcement+learning+(Watkins).+Brooks+explores+the+idea+of+multiple+sensing-and-acting+agents+within+a+single+robot%2C+more+than+one+of+which+is+capable+of+controlling+the+robot+on+its+own+if+allowed.+I+introduce+a+model+where+the+agents+are+not+only+autonomous%2C+but+are+in+fact+engaged+in+direct+competition+with+each+other+for+control+of+the+robot.+Interesting+robots+are+ones+where+no+agent+achieves+total+victory%2C+but+rather+the+state-space+is+fragmented+among+different+agents.+Having+the+agents+operate+by+Q-learning+proves+to+be+a+way+to+implement+this%2C+leading+to+a+local%2C+incremental+algorithm+(W-learning)+to+resolve+competition.+I+present+a+sketch+proof+that+this+algorithm+converges+when+the+world+is+a+discrete%2C+finite+Markov+decision+process.+For+each+state%2C+competition+is+resolved+with+the+most+likely+winner+of+the+state+being+the+agent+that+is+most+likely+to+suffer+the+most+if+it+does+not+win.+In+this+way%2C+W-learining+can+be+viewed+as+%60fair'+resolution+of+competition.+In+the+empirical+section%2C+I+show+how+W-learning+may+be+used+to+define+spaces+of+agent-collections+whose+action+selection+is+learnt+rather+than+hand-designed.+This+is+the+kind+of+solution-space+that+may+be+searched+with+a+genetic+algorithm.&rft.date=1995&rft.type=Preprint&rft.type=NonPeerReviewed&rft.format=application%2Fpostscript&rft.identifier=http%3A%2F%2Fcogprints.org%2F451%2F2%2Fd.ECAL95.ps&rft.identifier=++Humphrys%2C+Mark++(1995)+W-learning%3A+A+simple+RL-based+Society+of+Mind.++%5BPreprint%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F451%2F