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07/16/2021
Partially-Observed Decoupled Data-based Control (POD2C) for Complex Robotic Systems
This paper develops a systematic data-based approach to the closed-loop ...
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11/21/2020
On the Convergence of Reinforcement Learning
We consider the problem of Reinforcement Learning for nonlinear stochast...
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04/01/2020
Near Optimality and Tractability in Stochastic Nonlinear Control
We consider the problem of nonlinear stochastic optimal control. This is...
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02/21/2020
On the Search for Feedback in Reinforcement Learning
This paper addresses the problem of learning the optimal feedback policy...
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02/21/2020
Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes
We consider the problem of robotic planning under uncertainty. This prob...
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02/18/2020
D2C 2.0: Decoupled Data-Based Approach for Learning to Control Stochastic Nonlinear Systems via Model-Free ILQR
In this paper, we propose a structured linear parameterization of a feed...
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04/17/2019
Decoupled Data Based Approach for Learning to Control Nonlinear Dynamical Systems
This paper addresses the problem of learning the optimal control policy ...
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01/30/2018