DateStarted development Fall 2004
Verve is an open source C++ software library for general purpose reinforcement learning. Its main component is an intelligent agent, with user-defined sensors, actions, and motivation (rewards and punishment). It is useful for situations where you need an intelligent control system to learn a complex control task, but you don't know the exact control algorithm. Simply by providing the agent with a scalar reinforcement signal as it explores the task, it will learn to optimize its behavior to achieve more rewards, thus learning the desired control policy. It combines several well-studied methods (radial basis functions, temporal difference learning, and planning) with a few experimental methods (uncertainty estimations and curiosity) into a novel learning architecture. See my master's thesis for more details.
Most of the images and videos below are from several physical simulations I wrote for my master's thesis. They test the library's capabilities on motor learning tasks. The 3rd video below, which was done after my thesis work, is a simulated playground for curious robot exploration.
- [zip] Verve Apps Win32 package, including the pendulum swing-up, cart-pole, and curious robot playground applications