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Epigraph
VIRTUE, then, being of two kinds, intellectual and moral, intellectual virtue in the main
owes both its birth and its growth to teaching (for which reason it requires experience
and time) while the moral virtue comes about as a result of a habit, whence also its name
!"#k´! is one that is formed by the slight variation from of the word ´$"os (habit). From
this it is also plain that none of the moral virtues arises in us by nature; for nothing
that exist by nature can form a habit contrary to its nature. For instance the stone
which by nature moves downwards cannot be habituated to move upwards, not even if
one tries to train it by throwing it up ten thousand times; nor can fire be habituated to
move downwards, nor can anything else that by nature behaves in one way be trained to
behave in another. Neither by nature nor contrary to nature do the virtues arise in us;
rather we are adapted by nature to receive them, and are made perfect by habit.
The Nicomachean Ethics, Aristotle, 384-323 B.C1
1Text taken from the book ’Aristotle:The Nicomachean Ethics’ translated by David Ross(Ross 2009)
ii
Object Description
| Title | Iterative path integral stochastic optimal control: theory and applications to motor control |
| Author | Theodorou, Evangelos A. |
| Author email | etheodor@usc.edu; theo0027@umn.edu |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Computer Science |
| School | Viterbi School of Engineering |
| Date defended/completed | 2011-01-11 |
| Date submitted | 2011 |
| Restricted until | Unrestricted |
| Date published | 2011-04-29 |
| Advisor (committee chair) | Schaal, Stefan |
| Advisor (committee member) |
Valero-Cuevas, Francisco Sukhatme, Gaurav S. Todorov, Emo Schweighofer, Nicolas |
| Abstract | Motivated by the limitations of current optimal control and reinforcement learning methods in terms of their efficiency and scalability, this thesis proposes an iterative stochastic optimal control approach based on the generalized path integral formalism. More precisely, we suggest the use of the framework of stochastic optimal control with path integrals to derive a novel approach to RL with parameterized policies. While solidly grounded in value function estimation and optimal control based on the stochastic Hamilton Jacobi Bellman (HJB) equation, policy improvements can be transformed into an approximation problem of a path integral which has no open algorithmic parameters other than the exploration noise. The resulting algorithm can be conceived of as model-based, semi-model-based, or even model free, depending on how the learning problem is structured. The new algorithm, Policy Improvement with Path Integrals (PI2), demonstrates interesting similarities with previous RL research in the framework of probability matching and provides intuition why the slightly heuristically motivated probability matching approach can actually perform well. Applications to high dimensional robotic systems are presented for a variety of tasks that require optimal planning and gain scheduling.; In addition to the work on generalized path integral stochastic optimal control, in this thesis we extend model based iterative optimal control algorithms to the stochastic setting. More precisely we derive the Differential Dynamic Programming algorithm for stochastic systems with state and control multiplicative noise. Finally, in the last part of this thesis, model based iterative optimal control methods are applied to bio-mechanical models of the index finger with the goal to find the underlying tendon forces applied for the movements of, tapping and flexing. |
| Keyword | stochastic optimal control; reinforcement learning,; robotics |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m3804 |
| Contributing entity | University of Southern California |
| Rights | Theodorou, Evangelos A. |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | cisadmin@lib.usc.edu |
| Filename | etd-Theodorou-4581 |
| Archival file | uscthesesreloadpub_Volume14/etd-Theodorou-4581.pdf |
Description
| Title | Page 2 |
| Contributing entity | University of Southern California |
| Repository email | cisadmin@lib.usc.edu |
| Full text | Epigraph VIRTUE, then, being of two kinds, intellectual and moral, intellectual virtue in the main owes both its birth and its growth to teaching (for which reason it requires experience and time) while the moral virtue comes about as a result of a habit, whence also its name !"#k´! is one that is formed by the slight variation from of the word ´$"os (habit). From this it is also plain that none of the moral virtues arises in us by nature; for nothing that exist by nature can form a habit contrary to its nature. For instance the stone which by nature moves downwards cannot be habituated to move upwards, not even if one tries to train it by throwing it up ten thousand times; nor can fire be habituated to move downwards, nor can anything else that by nature behaves in one way be trained to behave in another. Neither by nature nor contrary to nature do the virtues arise in us; rather we are adapted by nature to receive them, and are made perfect by habit. The Nicomachean Ethics, Aristotle, 384-323 B.C1 1Text taken from the book ’Aristotle:The Nicomachean Ethics’ translated by David Ross(Ross 2009) ii |
