Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models.
Iman NematollahiErick Rosete-BeasAdrian RöferTim WelscheholdAbhinav ValadaWolfram BurgardPublished in: ICRA (2022)
Keyphrases
- gaussian mixture model
- actor critic
- mixture model
- mobile robot
- reinforcement learning
- policy gradient
- em algorithm
- approximate dynamic programming
- temporal difference
- optimal control
- neuro fuzzy
- feature vectors
- maximum likelihood
- expectation maximization
- gradient method
- reinforcement learning algorithms
- feature space
- robot arm
- function approximation
- probabilistic model
- unsupervised learning
- average reward
- image processing