Direct Loss Minimization Inverse Optimal Control

  title={Direct Loss Minimization Inverse Optimal Control},
  author={Andreas Doerr and Nathan D. Ratliff and Jeannette Bohg and Marc Toussaint and Stefan Schaal},
  booktitle={Robotics: Science and Systems},
Inverse Optimal Control (IOC) has strongly impacted the systems engineering process, enabling automated planner tuning through straightforward and intuitive demonstration. The most successful and established applications, though, have been in lower dimensional problems such as navigation planning where exact optimal planning or control is feasible. In higher dimensional systems, such as humanoid robots, research has made substantial progress toward generalizing the ideas to model free or… CONTINUE READING
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Riemannian motion optimization

  • Nathan Ratliff, Marc Toussaint, Stefan Schaal
  • Technical report, Max Planck Institute for…
  • 2015
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