2020
Local Policy Optimization for Trajectory-Centric Reinforcement Learning
Patrik Kolaric, Devesh K. Jha, Arvind U. Raghunathan, Frank L. Lewis, Mouhacine Benosman, Diego Romeres +1
ICRA 2020poster
The goal of this paper is to present a method for simultaneous trajectory and local stabilizing policy optimization to generate local policies for trajectory-centric model-based reinforcement learning (MBRL). This is motivated by the fact that global policy optimization for non-linear systems could…