Lecture 8 - Optimization and Learning for Robot Control - Optimal control introduction

Описание: Introduction to optimal control for robotics. Definition of a standard optimal control problem. Example of an optimal control problem for a simple pendulum. The main families of methods for solving optimal control problem: local vs global methods, discrete-time vs continuous-time methods. Introduction to numerical optimization: gradient descent.

0:00 QP-based reactive control
21:58 Optimal control: motivation
33:40 Introduction to optimal control
1:21:09 Gradient-based numerical optimization