|| Checking for direct PDF access through Ovid
Batch reinforcement learning methods provide a powerful framework for learning efficiently and effectively in autonomous robots. The paper reviews some recent work of the authors aiming at the successful application of reinforcement learning in a challenging and complex domain. It discusses several variants of the general batch learning framework, particularly tailored to the use of multilayer perceptrons to approximate value functions over continuous state spaces. The batch learning framework is successfully used to learn crucial skills in our soccer-playing robots participating in the RoboCup competitions. This is demonstrated on three different case studies.