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CASOG: Conservative Actor-critic with SmOoth Gradient for Skill Learning in Robot-Assisted Intervention.
Hao Li
Xiao-Hu Zhou
Xiao-Liang Xie
Shi-Qi Liu
Zhen-Qiu Feng
Zeng-Guang Hou
Published in:
CoRR (2023)
Keyphrases
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robot assisted
skill learning
policy gradient
gradient method
minimally invasive
robot arm
reinforcement learning
function approximation
image guided
action space
optimal control
single agent
convergence rate
partially observable markov decision processes