The Robotics Institute

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Foundations of Robotics Seminar, February 21, 2007
Time and Place | Seminar Abstract | Speaker Biography | Presentation Slides | Speaker Appointments




Randomly Sampling Actions In Dynamic Programming

 

Chris Atkeson

 

Time and Place

NSH 1507
Refreshments 4:15 pm
Talk 4:30 pm

 

 

Abstract

 

We describe an approach towards reducing the curse of dimensionality for deterministic dynamic programming with continuous actions by randomly sampling actions while computing a steady state value function and policy. This approach results in globally optimized actions, without searching over a discretized multidimensional grid.

 

We present results on finding time invariant control laws for two, four, and six dimensional deterministic swing up problems with up to 480 million discretized states.

 

 

Speaker Appointments

For appointments, please contact Chris Atkeson.


The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.