Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learning (SciRob 23)

Can I borrow one of these and train it to clean up pinecones?

good job,

Whereas I am not an expert on either, it seems to be a matter of definitions. Yes, if you impose a trajectory as target for optimal control, you are solving an inverse dynamics problem, which means multi-order differentiation. This significantly limits the scope of feasible solutions on an input level, yet it leaves you with a more tangible optimisation problem (to find a global optimum within the remaining scope of solutions). However, it is surely possible to also define an optimal control problem on a task level. This enlarges the scope of solutions, and likely exposes many local optimums that are better than the global optimum of the formerly described trajectory-based optimisation problem. However, now you have an optimisation problem that is no longer tangible on a global level. This requires you to settle on (quasi-)local optimisation approaches, of which reinforcement learning is a fine example.

Music is too loud. You'd be better off without music, but at least turn it down to background levels.

😍good job, very nice

Amazing!. Imagine when future humanoid robots are having their own olympics because they surpass humans. Probably in the next 2 decades.

Wow! This is really cool stuff! What splendid automation 😮 Thank you algorithm for taking be here 😊

You can see in the young kid's eyes that he just realized he's out of job :(

INSANE

Beautiful!

Great job! Indy 500 next?

Interesting, I wonder if it's possible to integrate OC techniques with DQN, to maintain the efficiency but make it amenable to formal verification.

sick

Well done guys 👌👍 It's been a long way, happy that I could also be a part of it before my retirement (as a Drone Racing Pilot) 😉 best Regards Kay

Incredible
Please take me there 🥹🥹🥹

Next step: add weather conditions. Damn this was incredible!

Congratulations, that is a really extraordinary feat.

One day, I dream I can achieve that. Damn! 😆