human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent groups of papers sharing a common citing paper.

Details of the hypergraph:
Center node: "Robust Reinforcement Learning in Motion Planning"
  Abstract: While exploring to find better solutions, an agent performing online reinforcement learning (RL) can perform worse than is acceptable. In some cases, exploration might have unsafe, or even catastrophic, results, often modeled in terms of reaching `failure' states of the agent's environment. This paper presents a method that uses domain knowledge to reduce the number of failures during exploration. This method formulates the set of actions from which the RL agent composes a control policy to ensure that exploration is conducted in a policy space that excludes most of the unacceptable policies. The resulting action set has a more abstract relationship to the task being solved than is common in many applications of RL. Although the cost of this added safety is that learning may result in a suboptimal solution, we argue that this is an appropriate tradeoff in many problems. We illustrate this method in the domain of motion planning.

Connected through hyperedge HE-1 (induced by source paper "Transfer of Learning by Composing Solutions of Elemental Sequential Tasks"):
  with members:
    - "The Efficient Learning of Multiple Task Sequences"
    - "A Modular Q-Learning Architecture for Manipulator Task Decomposition `Data storage in the cerebellar model ar"
    - "A Coevolutionary Approach to Learning Sequential Decision Rules"
    - "Hierarchical Explanation-Based Reinforcement Learning"
    - "Learning to Achieve Goals"
    - "Using Case-Based Reasoning as a Reinforcement Learning Framework for Optimization with Changing Criteria"
    - "Emergent Hierarchical Control Structures: Learning Reactive/Hierarchical Relationships in Reinforcement Environments"
    - "Learning Hierarchical Control Structures for Multiple Tasks and Changing Environments"

Connected through hyperedge HE-2 (induced by source paper "Learning to Act using Real-Time Dynamic Programming"):
  with members:
    - "Submitted to NIPS96, Section: Applications. Preference: Oral presentation Reinforcement Learning for Dynamic Channel Allocation in"
    - "Active Gesture Recognition using Partially Observable Markov Decision Processes"
    - "Scaling Up Average Reward Reinforcement Learning by Approximating the Domain Models and the Value Function"
    - "Learning sorting and decision trees with POMDPs"
    - "Markov Decision Processes in Large State Spaces"
    - "Learning Curve Bounds for Markov Decision Processes with Undiscounted Rewards"
    - "The Efficient Learning of Multiple Task Sequences"
    - "Exploration and Model Building in Mobile Robot Domains"

Question: Please tell me which class the center node belongs to. The 7 classes are: Neural_Networks, Reinforcement_Learning, Probabilistic_Methods, Theory, Genetic_Algorithms, Case_Based, Rule_Learning. Directly output the class name.

gpt: Reinforcement_Learning