CS294-112深度增强学习课程（加州大学伯克利分校 2017）NO.4 Learning policies by imitating optimal controllers

 

There are some problems: mismatch of model and reality; gradient explosion

扫描二维码关注公众号，回复： 996227 查看本文章

 

 

so, the dynamics can be quite messy, and backpropogating can be quite problematic.

 sudden change in velocity and so on. schochastic system. gradient descent can be tough.

 

can we apply this trajectory optimization method to optimize policy?

 

 

 

 

 

  

 

GPS: guided policy search

 

in this case, o_t is from the camera and the joint velocity