モデル予測経路積分制御と深層経路コスト予測器による高次元観測モデルベース強化学習

抄録

In this paper, we propose a model-based reinforcement learning framework combining Model Predictive Path Integral (MPPI) with a Deep Path-cost Predictor that outputs a state-trajectory cost given an image sequence and a control input sequence as input. We validate the effectiveness of the proposed method by carrying out 2DOF robot arm reaching tasks with multiple targets in simulation.