Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation

no code implementations • 28 May 2024 • Ignat Georgiev, Krishnan Srinivasan, Jie Xu, Eric Heiden, Animesh Garg

Model-Free Reinforcement Learning~(MFRL), leveraging the policy gradient theorem, has demonstrated considerable success in continuous control tasks.

Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing

no code implementations • 17 Nov 2020 • Ignat Georgiev, Christoforos Chatzikomis, Timo Völkl, Joshua Smith, Michael Mistry

In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model Predictive Controller (MPC).