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Learning Multi-Modal Control Programs


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Multi-modal control is a commonly used design tool for breaking up complex control tasks into sequences of simpler tasks. In this paper, we show that by viewing the control space as a set of such tokenizedinstructions rather than as real-valued signals, reinforcement learningbecomes applicable to continuous-time control systems. In fact, we showhow a combination of state-space exploration and multi-modal controlconverts the original system into a finite state machine, on which Q-learning can be utilized.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Author: Mehta, Tejas R. - Egerstedt, Magnus B. - -

Source: https://smartech.gatech.edu/







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