Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models.
Iman NematollahiErick Rosete-BeasAdrian RöferTim WelscheholdAbhinav ValadaWolfram BurgardPublished in: CoRR (2021)
Keyphrases
- gaussian mixture model
- actor critic
- mixture model
- policy gradient
- reinforcement learning
- mobile robot
- em algorithm
- feature vectors
- approximate dynamic programming
- optimal control
- expectation maximization
- temporal difference
- gradient method
- neuro fuzzy
- maximum likelihood
- humanoid robot
- function approximation
- policy iteration
- reinforcement learning algorithms
- probabilistic model
- feature space