MPC-inspired reinforcement learning for verifiable model-free control.
Yiwen LuZishuo LiYihan ZhouNa LiYilin MoPublished in: L4DC (2024)
Keyphrases
- model free
- reinforcement learning
- impedance control
- reinforcement learning algorithms
- function approximation
- control problems
- temporal difference
- optimal control
- policy iteration
- control policy
- control system
- control strategies
- reinforcement learning methods
- state space
- closed loop
- rl algorithms
- control method
- policy evaluation
- feature selection
- adaptive control
- dynamic model
- function approximators
- supervised learning
- learning algorithm
- action selection
- learning problems
- average reward
- robot manipulators
- sufficient conditions
- least squares