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From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators.
Emanuel Todorov
Weiwei Li
Xiuchuan Pan
Published in:
J. Field Robotics (2005)
Keyphrases
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optimal control
dynamic programming
control strategy
infinite horizon
control problems
reinforcement learning
maximum likelihood
control algorithm
brownian motion
lyapunov function
risk sensitive
optimal control problems