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Fig. 3 | ROBOMECH Journal

Fig. 3

From: Optimization algorithm for feedback and feedforward policies towards robot control robust to sensing failures

Fig. 3

Trajectory optimization problem: the trajectory can be predicted with the composed policy and the stochastic dynamics model; the optimal/non-optimal trajectories can be inferred with the optimal/non-optimal policies and the true state transition probability; the predicted trajectory is desired to be close to the optimal trajectory, while to be away from the non-optimal trajectory; the divergence between trajectories can be represented by the KL divergence

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