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Constrained stochastic optimal control with learned importance sampling: A path integral approach
Modern robotic systems are expected to operate robustly in partially unknown environments. This article proposes an algorithm capable of controlling a wide range of high-dimensional robotic systems in such challenging scenarios. Our method is based on the path integral formulation of stochastic opti...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
SAGE Publications
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9179940/ https://www.ncbi.nlm.nih.gov/pubmed/35694721 http://dx.doi.org/10.1177/02783649211047890 |