Agile Robotics: Optimal Control, Reinforcement Learning, and Differentiable Simulation.
Yunlong SongDavide ScaramuzzaPublished in: CoRR (2024)
Keyphrases
- optimal control
- reinforcement learning
- control problems
- dynamic programming
- feedback control
- real robot
- control strategy
- infinite horizon
- optimal control problems
- risk sensitive
- brownian motion
- class of nonlinear systems
- function approximation
- control law
- rl algorithms
- state space
- actor critic
- supply chain management
- loss function
- lyapunov function
- average cost
- approximate dynamic programming
- np hard
- linear quadratic
- objective function
- machine learning