Local Policy Optimization for Trajectory-Centric Reinforcement Learning
Patrik Kolaric,Devesh K. Jha,Arvind U. Raghunathan,Frank L. Lewis,Mouhacine Benosman,Diego Romeres,Daniel Nikovski,Patrik Kolaric,Devesh K. Jha,Arvind U. Raghunathan,Frank L. Lewis,Mouhacine Benosman,Diego Romeres,Daniel Nikovski
The goal of this paper is to present a method for simultaneous trajectory and local stabilizing policy optimization to generate local policies for trajectory-centric model-based reinforcement learning (MBRL). This is motivated by the fact that global policy optimization for non-linear systems could be a very challenging problem both algorithmically and numerically. However, a lot of robotic manipu...
