en
0.25
0.5
0.75
1.25
1.5
1.75
2
Free Energy and Relative Entropy Dualities: Connections to Path Integral Control and Applications to Robotics
Published on Oct 16, 20125566 Views
While optimal control and reinforcement learning are fundamental frameworks for learning and control applications, their application to high dimensional control systems of the complexity of humanoid a
Related categories
Chapter list
Free Energy and Relative Entropy Dualities: Connections to Path Integral Control and Applications to Robotics00:00
What makes robotic control difficult? - 103:11
What makes robotic control difficult? - 204:58
What makes robotic control difficult? - 304:59
What makes robotic control difficult? - 405:00
What makes robotic control difficult? - 505:01
Outline05:02
Dynamic Programming - 106:06
Dynamic Programming - 206:37
The Linear Bellman PDE07:30
Value Function Approximation/Policy Gradient Methods09:02
Policy Improvement with Path Integrals (PI2) - 112:49
Policy Improvement with Path Integrals (PI2) - 215:09
Policy Improvement with Path Integrals (PI2) - 317:11
Policy Improvement with Path Integrals (PI2) - 419:15
Policy Improvement with Path Integrals (PI2) - 519:16
Policy Improvement with Path Integrals (PI2) - 619:17
Policy Improvement with Path Integrals (PI2) - 721:18
Policy Improvement with Path Integrals (PI2) - 821:30
Policy Improvement with Path Integrals (PI2) - 921:31
Optimal Planning and Control - 122:20
Optimal Planning and Control - 222:21
Optimal Planning and Control - 322:22
Policy Improvement with Path Integrals (PI2) - 1022:57
Policy Improvement with Path Integrals (PI2) - 1124:01
Policy Improvement with Path Integrals (PI2) - 1225:00
Policy Improvement with Path Integrals (PI2) - 1325:06
Policy Improvement with Path Integrals (PI2) - 1425:14
Policy Improvement with Path Integrals (PI2) - 1525:15
Policy Improvement with Path Integrals (PI2) - 1625:15
Policy Improvement with Path Integrals (PI2) - 1725:16
Trajectory Optimization - 125:56
Applications to Robotics27:53
Trajectory Optimization and Gain Scheduling30:36
Trajectory Optimization - 232:55
Trajectory Optimization - 335:56
Trajectory Optimization - 438:57
Tendon Driven System - 140:42
Tendon Driven System - 241:11
Tendon Driven System - 341:37
Applications to Tendon Driven Robots - 142:59
Applications to Tendon Driven Robots - 246:24
Applications to Tendon Driven Robots - 349:36
The Information Theoretic View - 151:44
The Information Theoretic View - 253:25
The Information Theoretic View - 353:26
Application to Jump Diffusions53:29
Summary55:07