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Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers.
Tyler Westenbroek
Ayush Agrawal
Fernando Castañeda
S. Shankar Sastry
Koushil Sreenath
Published in:
ADHS (2021)
Keyphrases
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model free
reinforcement learning
policy iteration
reinforcement learning algorithms
function approximation
average reward
impedance control
optimal policy
temporal difference
policy evaluation
neural network
genetic algorithm