Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC
Andrea Tagliabue,Dong-Ki Kim,Michael Everett,Jonathan P. How,Andrea Tagliabue,Dong-Ki Kim,Michael Everett,Jonathan P. How
We propose a demonstration-efficient strategy to compress a computationally expensive Model Predictive Controller (MPC) into a more computationally efficient representation based on a deep neural network and Imitation Learning (IL). By generating a Robust Tube variant (RTMPC) of the MPC and leveraging properties from the tube, we introduce a data augmentation method that enables high demonstration...
