Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation.

Teng Xue Hakan Girgin Teguh Santoso Lembono Sylvain Calinon

Published in: ICRA (2023)

Keyphrases

optimal control
long term
short term
dynamic programming
control problems
feedback control
risk sensitive
class of nonlinear systems
control strategy
optimal control problems
infinite horizon
reinforcement learning
brownian motion
control law
lyapunov function
neural network
machine learning