FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2072752020> ?p ?o ?g. }

• W2072752020 abstract "Learning motion control as a unified process of designing the reference trajectory and the controller is one of the most challenging problems in robotics. The complexity of the problem prevents most of the existing optimization algorithms from giving satisfactory results. While model-based algorithms like iterative linear-quadratic-Gaussian (iLQG) can be used to design a suitable controller for the motion control, their performance is strongly limited by the model accuracy. An inaccurate model may lead to degraded performance of the controller on the physical system. Although using machine learning approaches to learn the motion control on real systems have been proven to be effective, their performance depends on good initialization. To address these issues, this paper introduces a two-step algorithm which combines the proven performance of a model-based controller with a model-free method for compensating for model inaccuracy. The first step optimizes the problem using iLQG. Then, in the second step this controller is used to initialize the policy for our PI2-01 reinforcement learning algorithm. This algorithm is a derivation of the PI2 algorithm enabling more stable and faster convergence. The performance of this method is demonstrated both in simulation and experimental results." @default.
• W2072752020 created "2016-06-24" @default.
• W2072752020 creator A5040208292 @default.
• W2072752020 creator A5053312475 @default.
• W2072752020 creator A5077279214 @default.
• W2072752020 date "2014-09-01" @default.
• W2072752020 modified "2023-09-23" @default.
• W2072752020 title "Learning of closed-loop motion control" @default.
• W2072752020 cites W1925816294 @default.
• W2072752020 cites W1981753502 @default.
• W2072752020 cites W2012392077 @default.
• W2072752020 cites W2074290995 @default.
• W2072752020 cites W2123860492 @default.
• W2072752020 cites W2133932631 @default.
• W2072752020 cites W2140135625 @default.
• W2072752020 cites W2142687309 @default.
• W2072752020 cites W2147828974 @default.
• W2072752020 cites W2158370675 @default.
• W2072752020 cites W2167856595 @default.
• W2072752020 cites W2294845706 @default.
• W2072752020 cites W2498736626 @default.
• W2072752020 cites W3151089333 @default.
• W2072752020 doi "https://doi.org/10.1109/iros.2014.6942746" @default.
• W2072752020 hasPublicationYear "2014" @default.
• W2072752020 type Work @default.
• W2072752020 sameAs 2072752020 @default.
• W2072752020 citedByCount "25" @default.
• W2072752020 countsByYear W20727520202015 @default.
• W2072752020 countsByYear W20727520202016 @default.
• W2072752020 countsByYear W20727520202017 @default.
• W2072752020 countsByYear W20727520202018 @default.
• W2072752020 countsByYear W20727520202019 @default.
• W2072752020 countsByYear W20727520202020 @default.
• W2072752020 countsByYear W20727520202021 @default.
• W2072752020 crossrefType "proceedings-article" @default.
• W2072752020 hasAuthorship W2072752020A5040208292 @default.
• W2072752020 hasAuthorship W2072752020A5053312475 @default.
• W2072752020 hasAuthorship W2072752020A5077279214 @default.
• W2072752020 hasBestOaLocation W20727520202 @default.
• W2072752020 hasConcept C111919701 @default.
• W2072752020 hasConcept C114466953 @default.
• W2072752020 hasConcept C117619785 @default.
• W2072752020 hasConcept C121332964 @default.
• W2072752020 hasConcept C127413603 @default.
• W2072752020 hasConcept C1276947 @default.
• W2072752020 hasConcept C133731056 @default.
• W2072752020 hasConcept C13662910 @default.
• W2072752020 hasConcept C145565327 @default.
• W2072752020 hasConcept C154945302 @default.
• W2072752020 hasConcept C162324750 @default.
• W2072752020 hasConcept C199360897 @default.
• W2072752020 hasConcept C203479927 @default.
• W2072752020 hasConcept C2775924081 @default.
• W2072752020 hasConcept C2777303404 @default.
• W2072752020 hasConcept C34413123 @default.
• W2072752020 hasConcept C41008148 @default.
• W2072752020 hasConcept C47446073 @default.
• W2072752020 hasConcept C50522688 @default.
• W2072752020 hasConcept C6557445 @default.
• W2072752020 hasConcept C86803240 @default.
• W2072752020 hasConcept C90509273 @default.
• W2072752020 hasConcept C97541855 @default.
• W2072752020 hasConcept C98045186 @default.
• W2072752020 hasConceptScore W2072752020C111919701 @default.
• W2072752020 hasConceptScore W2072752020C114466953 @default.
• W2072752020 hasConceptScore W2072752020C117619785 @default.
• W2072752020 hasConceptScore W2072752020C121332964 @default.
• W2072752020 hasConceptScore W2072752020C127413603 @default.
• W2072752020 hasConceptScore W2072752020C1276947 @default.
• W2072752020 hasConceptScore W2072752020C133731056 @default.
• W2072752020 hasConceptScore W2072752020C13662910 @default.
• W2072752020 hasConceptScore W2072752020C145565327 @default.
• W2072752020 hasConceptScore W2072752020C154945302 @default.
• W2072752020 hasConceptScore W2072752020C162324750 @default.
• W2072752020 hasConceptScore W2072752020C199360897 @default.
• W2072752020 hasConceptScore W2072752020C203479927 @default.
• W2072752020 hasConceptScore W2072752020C2775924081 @default.
• W2072752020 hasConceptScore W2072752020C2777303404 @default.
• W2072752020 hasConceptScore W2072752020C34413123 @default.
• W2072752020 hasConceptScore W2072752020C41008148 @default.
• W2072752020 hasConceptScore W2072752020C47446073 @default.
• W2072752020 hasConceptScore W2072752020C50522688 @default.
• W2072752020 hasConceptScore W2072752020C6557445 @default.
• W2072752020 hasConceptScore W2072752020C86803240 @default.
• W2072752020 hasConceptScore W2072752020C90509273 @default.
• W2072752020 hasConceptScore W2072752020C97541855 @default.
• W2072752020 hasConceptScore W2072752020C98045186 @default.
• W2072752020 hasLocation W20727520201 @default.
• W2072752020 hasLocation W20727520202 @default.
• W2072752020 hasOpenAccess W2072752020 @default.
• W2072752020 hasPrimaryLocation W20727520201 @default.
• W2072752020 hasRelatedWork W1491843047 @default.
• W2072752020 hasRelatedWork W1537888493 @default.
• W2072752020 hasRelatedWork W1925816294 @default.
• W2072752020 hasRelatedWork W1977655452 @default.
• W2072752020 hasRelatedWork W2012587148 @default.
• W2072752020 hasRelatedWork W2077682425 @default.
• W2072752020 hasRelatedWork W2078939017 @default.
• W2072752020 hasRelatedWork W2104733512 @default.
• W2072752020 hasRelatedWork W2108045960 @default.

• next