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Inverse dynamics for control
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Classroom Contents
ADSI Summer Workshop- Algorithmic Foundations of Learning and Control
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- 1 Intro
- 2 Models can do more than sample data
- 3 Model-based control works on real systems, despite modeling errors
- 4 Inverse dynamics for control
- 5 Acceleration-based Direct Optimization (ADO)
- 6 Example: 2D hopper
- 7 Combining trajectory optimization and function approximation
- 8 Analytical policy gradient
- 9 Optimization vs. discovery
- 10 Discovery is usually done by humans
- 11 Automated discovery with Contact Invariant Optimization (CIO)
