RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion.
Dongho KangJin ChengMiguel ZamoraFatemeh ZargarbashiStelian CorosPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- optimal control
- control problems
- reinforcement learning
- control strategy
- feedback control
- dynamic programming
- legged locomotion
- infinite horizon
- model free
- actor critic
- function approximation
- rl algorithms
- learning agent
- control system
- stochastic control
- optimal control problems
- neural network
- control law
- control strategies
- control method
- optimal policy
- continuous stirred tank reactor