Differential dynamic programming for graph-structured dynamical systems: Generalization of pouring behavior with different skills.
Akihiko YamaguchiChristopher G. AtkesonPublished in: Humanoids (2016)
Keyphrases
- dynamical systems
- dynamic programming
- qualitative simulation
- nonlinear dynamical systems
- state space
- differential equations
- dynamic systems
- structured data
- linear systems
- dynamical behavior
- phase space
- control theory
- partially observable
- machine learning
- partially observable markov decision processes
- weighted graph
- predictive state representations
- qualitative reasoning
- nonlinear dynamics
- reinforcement learning