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Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC.
Nícolas Figueroa
Julio Tafur
Abderrahmane Kheddar
Published in:
SII (2024)
Keyphrases
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parameter optimization
reinforcement learning
optimal control
genetic algorithm ga
differential evolution
control system
parameter settings
control strategy
genetic algorithm
parameter estimation
dynamic model
closed loop
higher order
state space
neural network
real time
optical flow
prior knowledge