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6-Constraints and Redundancy in Robotics
When developing software for motion planning and control of robots it is common to deal with robots that have some sort of redundancy. This means that the robot has more degrees of freedom than the task at hand. Consider for example the following cases: Common tasks with these types of robots are: Working on the…
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4-Value Estimation with Monte Carlo Methods: Learning from Experience
We are now going to tackle for the first time the challenge to determine the value function when we don’t have access to a model. This will be very useful to move on to more complex environments where the interactions are much more complex than the Corridor example we have been working with so far.…
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3-Understanding the Value Function in Reinforcement Learning: A Corridor Example
Value functions are a fundamental concept in Reinforcement Learning (RL). A solid grasp of value functions is essential for understanding more advanced RL algorithms. In this post, we explore value functions through a simple, custom environment to make their core ideas intuitive and accessible. We also provide the python code to replicate our results here.…