“Learning to Drive a Bicycle Using Reinforcement Learning and Shaping”, 1998 (; backlinks):
We present and solve a real-world problem of learning to drive a bicycle.
We solve the problem by online reinforcement learning using the Sarsa(λ) algorithm. Then we solve the composite problem of learning to balance a bicycle and then drive to a goal.
In our approach the reinforcement function is independent of the task the agent tries to learn to solve.