https://www.youtube.com/watch?v=mQqm_vFo7e4 Actor-Critic Model Predictive Control Angel Romero, Yunlong Song, Davide Scaramuzza The authors are with the Robotics and Perception Group, Department of Informatics, University of Zurich, and Department of Neuroinformatics, University of Zurich and ETH...
This paper provides an answer by introducing a new framework called Actor-Critic Model Predictive Control. The key idea is to embed a differentiable MPC within an actor-critic RL framework. The proposed approach leverages the short-term predictive optimization capabilities of MPC with the exploratory...
The goal of the task is to design a model-free controller with a soft actor-critic agent that can balance a ping-pong ball on a flat surface attached to the end effector of the manipulator. Model-based control techniques like Model Predictive Control (MPC) or other methods c...
Some recent AP control algorithms include proportional, integral and derivative (PID) approximations [9,10], expert systems [11,12], model predictive control [13–15], nonlinear control based on sliding modes [16–18] and robust control [19]. Many control techniques require a mathematical model...
andδfis the front steering angel. Given that longitudinal and lateral motions of the vehicles are focused, the two degrees-of-freedom model is sufficient to delegate the main parameters of the vehicle, speed and acceleration. The acceleration and steering angle are used as the control variables ...
To reduce the reliance on human factors, optimization-based EMSs use numerical optimization methods to determine operating modes and power allocation schemes, such as EMSs based on dynamic planning (DP) [11] and model predictive control (MPC) [12]. Although these EMSs can improve vehicle economy...
Inaba and Yamazaki BMC Neuroscience 2013, 14(Suppl 1):P425 http://www.biomedcentral.com/1471-2202/14/S1/P425 POSTER PRESENTATION Open Access An actor-critic model of saccade adaptation Manabu Inaba*, Tadashi Yamazaki From Twenty Second Annual Computational Neuroscience Meeting: CNS*2013 Paris, ...
-1- 中国科技论文在线 自适应重要采样 Actor-Critic算法 冯涣婷 中国矿业大学信息与电气工程学院,江苏徐州(221116) 摘 要:在离策略 Actor-Critic(AC)强化学习中,虽然 Critic使用重要采样技术可以减小值函 数估计的偏差,但是重要采样方法没有考虑估计的方差,算法性能倾向于不稳定。为了减小 估计方差,提出一种自适应...
In other words, the control of DNN output may be suboptimal or even constraint-violating, so that we can hardly ensure the quality of the trained model. In this paper, we propose a model-based RL algorithm called the actor-critic objective penalty function method (ACOPFM) to solve the ...
We introduce the Surprise REINFORCE, the Surprise Actor-critic and the Surprise SARSA-λ as MF algorithms with a learning rate modulated by surprise, where surprise is derived from a world-model learning module that performs outlier detection. More specifically, in the Surprise Actor-critic (Fig....