The paper formulates a two-level optimization scheme integrating control, classical planning, and reinforcement learning to improve safety and interpretability in autonomous systems.
Lie group forced variational integrator networks for learning and control of robot systems
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Mission-Aligned Learning-Informed Control of Autonomous Systems: Formulation and Foundations
The paper formulates a two-level optimization scheme integrating control, classical planning, and reinforcement learning to improve safety and interpretability in autonomous systems.