Safety Guaranteed Manipulation Based on Reinforcement Learning Planner and Model Predictive Control Actor.
Zhenshan BingAleksandr MavrichevSicong ShenXiangtong YaoKejia ChenKai HuangAlois C. KnollPublished in: CoRR (2023)
Keyphrases
- model predictive control
- reinforcement learning
- control system
- predictive control
- function approximation
- state space
- domain independent
- heuristic search
- machine learning
- markov decision processes
- closed loop
- partially observable
- mathematical model
- real time
- experimental data
- knowledge base
- optimal policy
- classification accuracy
- feed forward
- neuro fuzzy
- decision making
- control scheme
- control law
- supervised learning
- initial state
- artificial intelligence
- least squares