Learning control of underactuated double pendulum with Model-Based Reinforcement Learning

Alberto Dalla Libera; Diego Romeres; Giulio Giacomuzzo; Niccol\`o Turcato; Ruggero Carli

arxiv: 2409.05811 · v1 · pith:BE6EEKAA · submitted 2024-09-09 · cs.RO

Learning control of underactuated double pendulum with Model-Based Reinforcement Learning

Niccol\`o Turcato , Alberto Dalla Libera , Giulio Giacomuzzo , Ruggero Carli , Diego Romeres This is my paper

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classification cs.RO

keywords learningalgorithmmc-pilcomodel-basedreinforcementsolutionaspectsbesides

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This report describes our proposed solution for the second AI Olympics competition held at IROS 2024. Our solution is based on a recent Model-Based Reinforcement Learning algorithm named MC-PILCO. Besides briefly reviewing the algorithm, we discuss the most critical aspects of the MC-PILCO implementation in the tasks at hand.

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Learning control of underactuated double pendulum with Model-Based Reinforcement Learning

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