Ep. 53 - December 17, 2023
from TechcraftingAI Robotics Hosted by Brad Edwards
Robotics research summaries from arXiv for December 17, 2023. You can find summaries and links to each article here. Today's Themes (AI Generated) Efficient generation of open-loop stable limit cycles for legged robots using constrained optimization and direct transcription to NLP. Combining trajectory optimization and reinforcement learning for efficient, data-efficient solving of optimal control problems. Using Sobolev learning with critics to enrich training data and improve sample efficiency in actor-critic methods. Spectral radius formulations for ensuring open-loop stability of limit cycles. Using policy networks to warm start trajectory optimization and close the loop between model-based and model-free methods.
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