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math.OC2020★ 2 cited
D2C 2.0: Decoupled Data-Based Approach for Learning to Control Stochastic Nonlinear Systems via Model-Free ILQR
Karthikeya S Parunandi, Aayushman Sharma, Suman Chakravorty +1
In this paper, we propose a structured linear parameterization of a feedback policy to solve the model-free stochastic optimal control problem. This parametrization is corroborated…
math.OC2020
Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes (Extended Report)
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell
We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intrac…