A geometric optimal control approach for imitation and generalization of manipulation skills.
Boyang TiAmirreza RazmjooYongsheng GaoJie ZhaoSylvain CalinonPublished in: Robotics Auton. Syst. (2023)
Keyphrases
- optimal control
- reinforcement learning
- dynamic programming
- control problems
- risk sensitive
- control strategy
- optimal control problems
- feedback control
- brownian motion
- infinite horizon
- class of nonlinear systems
- markov decision processes
- lyapunov function
- neural network
- control law
- evolutionary algorithm
- optimal policy
- control system
- machine learning
- linear quadratic
- real time