Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning
Hien Bui,Michael Posa,Hien Bui,Michael Posa
In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to address these challenges via data-driven methods, learning dynamical models in combination with model predictive control. Those methods, while effective, rely solely on minimizing forward prediction errors to hope for bett...
