An Online Training Method for Augmenting MPC with Deep Reinforcement Learning
Guillaume Bellegarda,Katie Byl,Guillaume Bellegarda,Katie Byl
Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any modeling or intuition about the system, at the cost of high sample complexity and the inability to prove any metrics about the learned policies. Trajectory optimiz...
