A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf
.
Policy Search for Model Predictive Control with Application to Agile Drone Flight
[article]
2021
arXiv
pre-print
Policy Search and Model Predictive Control~(MPC) are two different paradigms for robot control: policy search has the strength of automatically learning complex policies using experienced data, while MPC can offer optimal control performance using models and trajectory optimization. An open research question is how to leverage and combine the advantages of both approaches. In this work, we provide an answer by using policy search for automatically choosing high-level decision variables for MPC,
arXiv:2112.03850v2
fatcat:65fldchqxrgzropf5k7fxe5uke