Compositionality of optimal control laws

Advances in Neural Information Processing Systems 22 - Proceedings of the 2009 Conference

Volumn , Issue , 2009, Pages 1856-1864

  Todorov, Emanuel ^a  

^a UNIVERSITY OF WASHINGTON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL THEORY; CONTROLLERS; DYNAMIC PROGRAMMING; GAUSSIAN NOISE (ELECTRONIC); STOCHASTIC CONTROL SYSTEMS;

BELLMAN EQUATIONS; COMPOSITE CONTROL; COMPOSITIONALITY; CONTROL LAWS; FEEDBACK CONTROLLER; NON-LINEAR DYNAMICS; OPTIMAL CONTROL LAW; OPTIMAL CONTROLLER; PROPERTY; STOCHASTIC OPTIMAL CONTROL;

STOCHASTIC SYSTEMS;

EID: 80052201109     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (22)

1. D. Bertsekas, Dynamic Programming and Optimal Control (2nd Ed). Bellmont, MA: Athena Scientific, 2001.
2. R. Sutton and A. Barto, Reinforcement Learning: An Introduction. MIT Press, Cambridge MA, 1998.
3. D. Bertsekas and J. Tsitsiklis, Neuro-dynamic programming. Belmont, MA: Athena Scientific, 1997.
4. J. Si, A. Barto, W. Powell, and D. Wunsch, Handbook of Learning and Approximate Dynamic Programming. Wiley-IEEE Press, 2004.
5. S. Mahadevan and M. Maggioni, "Proto-value functions: A Laplacian farmework for learning representation and control in Markov decision processes," Journal of Machine Learning Research, vol. 8, pp. 2169-2231, 2007.
6. M. daSilva, F. Durand, and J. Popovic, "Linear bellman combination for control of character animation," To appear in SIGGRAPH, 2009.
7. E. Todorov, "Optimality principles in sensorimotor control," Nature Neuroscience, vol. 7, no. 9, pp. 907-915, 2004.
8. C. Harris and D. Wolpert, "Signal-dependent noise determines motor planning," Nature, vol. 394, pp. 780-784, 1998.
9. C. Sherrington, The integrative action of the nervous system. New Haven: Yale University Press, 1906.
10. N. Bernstein, On the construction of movements. Moscow: Medgiz, 1947.
11. M. Latash, "On the evolution of the notion of synergy," in Motor Control, Today and Tomorrow, G. Gantchev, S. Mori, and J. Massion, Eds. Sofia: Academic Publishing House "Prof. M. Drinov", 1999, pp. 181-196.
12. M. Tresch, P. Saltiel, and E. Bizzi, "The construction of movement by the spinal cord," Nature Neuroscience, vol. 2, no. 2, pp. 162-167, 1999.
13. A. D'Avella, P. Saltiel, and E. Bizzi, "Combinations of muscle synergies in the construction of a natural motor behavior," Nat. Neurosci., vol. 6, no. 3, pp. 300-308, 2003.
14. M. Santello, M. Flanders, and J. Soechting, "Postural hand synergies for tool use," J Neurosci, vol. 18, no. 23, pp. 10105-15, 1998.
15. E. Todorov, "Linearly-solvable Markov decision problems," Advances in Neural Information Processing Systems, 2006.
16. -, "General duality between optimal control and estimation," IEEE Conference on Decision and Control, 2008.
17. -, "Efficient computation of optimal actions," PNAS, in press, 2009.
18. S. Mitter and N. Newton, "A variational approach to nonlinear estimation," SIAM J Control Opt, vol. 42, pp. 1813-1833, 2003.
19. H. Kappen, "Linear theory for control of nonlinear stochastic systems," Physical Review Letters, vol. 95, 2005.
20. E. Todorov, "Eigen-function approximation methods for linearly-solvable optimal control problems," IEEE International Symposium on Adaptive Dynamic Programming and Rein-forcemenet Learning, 2009.
21. R. Stengel, Optimal Control and Estimation. New York: Dover, 1994.
22. H. Kushner and P. Dupuis, Numerical Methods for Stochastic Optimal Control Problems in Continuous Time. New York: Springer, 2001.