A certified gradient-based method for contact-rich manipulation that quantifies smoothing-induced errors via set-valued discrepancies and incorporates them into analytical reachable sets for robust affine feedback policies.
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The CMA Evolution Strategy: A Tutorial
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abstract
This tutorial introduces the CMA Evolution Strategy (ES), where CMA stands for Covariance Matrix Adaptation. The CMA-ES is a stochastic, or randomized, method for real-parameter (continuous domain) optimization of non-linear, non-convex functions. We try to motivate and derive the algorithm from intuitive concepts and from requirements of non-linear, non-convex search in continuous domain.
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