Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints.
Yutong ZhangFei LiuXiao LiangMichael C. YipPublished in: CoRR (2023)
Keyphrases
- optimal control
- control problems
- dynamic programming
- optimal control problems
- control strategy
- feedback control
- class of nonlinear systems
- reinforcement learning
- risk sensitive
- control law
- infinite horizon
- objective function
- brownian motion
- constrained optimization
- stochastic control
- regularization parameter
- real time
- mathematical model
- scale space
- mobile robot
- control system
- image processing