1 code implementation • 17 Dec 2023 • Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
Recently, we have proposed CACTO (Continuous Actor-Critic with Trajectory Optimization), an algorithm that uses TO to guide the exploration of an actor-critic RL algorithm.
1 code implementation • 13 Sep 2023 • Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
In this work, we consider the complex control problem of making a monopod reach a target with a jump.
no code implementations • 12 Nov 2022 • Gianluigi Grandesso, Elisa Alboni, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete
Thus, our algorithm learns a "good" control policy via TO-guided RL policy search that, when used as initial guess provider for TO, makes the trajectory optimization process less prone to converge to poor local optima.
no code implementations • 9 Oct 2020 • Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
In this approach, instead of adding a (conservative) terminal constraint to the problem, we propose to use the measured state projected to the viability kernel in the OCP solved at each control cycle.
Robotics