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

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Sep 09, 2024
Niccolò Turcato, Alberto Dalla Libera, Giulio Giacomuzzo, Ruggero Carli, Diego Romeres
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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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