Reinforcement learning and Optimal Control (Draft version)

Desperately looking for the original version of this book. If you could find it, please let me know.
#reinforcement_learning #optimal_control

Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization

Abstract: We present an online trajectory optimization method and software platform applicable to complex humanoid robots performing challenging tasks such as getting up from an arbitrary pose on the ground and recovering from large disturbances using dexterous acrobatic maneuvers. The resulting behaviors, illustrated in the attached video, are computed only 7x slower than real time, on a standard PC. The video also shows results on the acrobot problem, planar swimming and one-legged hopping. These simpler problems can already be solved in real time, without pre-computing anything

Video of their experiments: https://youtu.be/anIsw2-Lbco

Paper: https://homes.cs.washington.edu/~todorov/papers/TassaIROS12.pdf
#model_predictive_control #optimal_control #robotics