D2C 2.0: Decoupled Data-Based Approach for Learning to Control Stochastic Nonlinear Systems via Model-Free ILQR

18 Feb 2020 Parunandi Karthikeya S Sharma Aayushman Chakravorty Suman Kalathil Dileep

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 by a decoupling principle that is shown to be near-optimal under a small noise assumption, both in theory and by empirical analyses... (read more)

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Categories


  • OPTIMIZATION AND CONTROL
  • ROBOTICS