Data-driven heuristic dynamic programming with virtual reality

In this paper, we propose a virtual reality (VR) platform as a case study of machine learning, in this case applied to the goal representation heuristic dynamic programming (GrHDP) approach. In general, a VR platform normally includes a physical module, a control/learning module, and a VR module. It facilitates machine learning research, where scientists and engineers can participate in the simulation process to analyze dynamic experiments. The internal structure of the VR platform can be replaced according to different research targets, so the platform can be extended to other applications. In this paper, we present the detailed VR design strategy, with a number of applications, including a triple-link inverted pendulum balancing problem, a maze navigation problem, and a robot navigation with obstacle avoidance.