CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality. (arXiv:2211.06625v1 [cs.RO])

This paper presents a novel algorithm for the continuous control of dynamical
systems that combines Trajectory Optimization (TO) and Reinforcement Learning
(RL) in a single framework. The motivations behind this algorithm are the two
main limitations of TO and RL when applied to continuous nonlinear systems to
minimize a non-convex cost function. Specifically, TO can get stuck in poor
local minima when the search is not initialized close to a ``good'' minimum. On
the other hand, when dealing with continuous …

actor-critic arxiv continuous global optimization