Deep $\mathcal{L}^1$ Stochastic Optimal Control Policies for Planetary Soft-landing

no code implementations • 1 Sep 2021 • Marcus A. Pereira, Camilo A. Duarte, Ioannis Exarchos, Evangelos A. Theodorou

In this paper, we introduce a novel deep learning based solution to the Powered-Descent Guidance (PDG) problem, grounded in principles of nonlinear Stochastic Optimal Control (SOC) and Feynman-Kac theory.

Adaptive Risk Sensitive Model Predictive Control with Stochastic Search

no code implementations • 2 Sep 2020 • Ziyi Wang, Oswin So, Keuntaek Lee, Camilo A. Duarte, Evangelos A. Theodorou

We present a general framework for optimizing the Conditional Value-at-Risk for dynamical systems using stochastic search.

Distributional Reinforcement Learning Optimization and Control Robotics