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simmediumlocomotionmetric · varies
SAC-MoE: Reinforcement Learning with Mixture-of-Experts for Control of Hybrid Dynamical Systems with Uncertainty
Description
Hybrid dynamical systems result from the interaction of continuous-variable dynamics with discrete events and encompass various systems such as legged robots, vehicles and aircrafts. Challenges arise when the system's modes are characterized by unobservable (latent) parameters and the events that cause system dynamics to switch between different modes are also unobservable. Model-based control approaches typically do not account for such uncertainty in the hybrid dynamics, while standard model-f