Robocup-99 Team Descriptions Simulation League, Team Mainz-rolling-brains, Pages 84{87 between Teaching and Learning: Development of the Team 'mainz Rolling Brains' for the Simulation League of Robocup '99 Mainz-rolling-brains

The development of our team for RoboCup '99 is mainly oriented towards a transparent way of transferring explicit knowledge into the agent control and its combination with learning algorithms capable of ne-tuning the acquired skills. The explicit knowledge is formulated in terms of rules, the non-explicit knowledge is to be realized as a set of parameters adapted by hierarchical reinforcement learning and by rule evolution. The teaching process for the implicit learning is not determined by a simple xed reinforcement return, but by a | possibly complex | agent that represents a human or an automated coach.