Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints.
Yutong ZhangFei LiuXiao LiangMichael C. YipPublished in: ICRA (2024)
Keyphrases
- optimal control
- control problems
- feedback control
- dynamic programming
- risk sensitive
- optimal control problems
- class of nonlinear systems
- control strategy
- brownian motion
- objective function
- infinite horizon
- control law
- lyapunov function
- linear constraints
- reinforcement learning
- real time
- robotic systems
- constraint programming
- loss function
- data mining