CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality

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.

Continuous Control Reinforcement Learning (RL)