Robot Policy Improvement With Natural Evolution Strategies for Stable Nonlinear Dynamical System - Hu, Yingbai; Chen, Guang; Li, Zhijun; Knoll, Alois (IEEE transactions on cybernetics, 2023)
Keywords: Cloning; Dynamic stability; Dynamical system; Dynamical systems; Evolution; exponential natural evolution strategies (NESs); Heuristic algorithms; imitation learning; Impedance; Motion planning; Motion stability; Obstacle avoidance; Parameters; policy improvement of robustness and adaptability; Probabilistic models; Robot dynamics; Robots; Robustness; Stability analysis; Stability criteria; Stiffness; Supervised learning; Task analysis; Task complexity