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- W4287639462 abstract "We present an approach for approximately solving discrete-time stochastic optimal-control problems by combining direct trajectory optimization, deterministic sampling, and policy optimization. Our feedback motion-planning algorithm uses a quasi-Newton method to simultaneously optimize a reference trajectory, a set of deterministically chosen sample trajectories, and a parameterized policy. We demonstrate that this approach exactly recovers LQR policies in the case of linear dynamics, quadratic objective, and Gaussian disturbances. We also demonstrate the algorithm on several nonlinear, underactuated robotic systems to highlight its performance and ability to handle control limits, safely avoid obstacles, and generate robust plans in the presence of unmodeled dynamics." @default.
- W4287639462 created "2022-07-25" @default.
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- W4287639462 date "2020-10-16" @default.
- W4287639462 modified "2023-09-27" @default.
- W4287639462 title "Direct Policy Optimization using Deterministic Sampling and Collocation" @default.
- W4287639462 doi "https://doi.org/10.48550/arxiv.2010.08506" @default.
- W4287639462 hasPublicationYear "2020" @default.
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