Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot
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DOI: 10.1016/j.ifacol.2020.12.2426
Abstract: Abstract In recent years Reinforcement Learning (RL) has achieved remarkable results. Nonetheless RL algorithms prove to be unsuccessful in robotics applications where constraints satisfaction is involved, e.g. for safety. In this work we propose a… read more here.
Keywords: via nonlinear; pendubot; learned policies; policies via ... See more keywords