Gradient-Based Trajectory Optimization With Learned Dynamics
Bhavya Sukhija,Nathanael Köhler,Miguel Zamora,Simon Zimmermann,Sebastian Curi,Andreas Krause,Stelian Coros,Bhavya Sukhija,Nathanael Köhler,Miguel Zamora,Simon Zimmermann,Sebastian Curi,Andreas Krause,Stelian Coros
Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can only be captured to a limited extent. An alternative approach is to leverage machine learning techniques to learn a differentiable dynamics model of the system fro...
