Vision-Based Learning for Real Robot: Towards RoboCup

The authors have applied reinforcement learn-ing method to a mobile robot with vision sys-tem. We selected a task for the robot from skills for playing soccer. In the first stage, a robot learned to shoot a ball into a goal. In the second stage, we set up an opponent just before the goal, that is, a goal keeper, and make the robot learn to shoot a ball into a goal avoid-ing the goal keeper. This paper describes sever-al research issues for RoboCup with real robots along with our research projects.