1 / 5

580.691 Learning Theory Reza Shadmehr

580.691 Learning Theory Reza Shadmehr Open loop optimal control with signal dependent noise and endpoint constraint Minimum endpoint variance with Lagrange multipliers. Minimize position variance at last time point with the constraint that all states are at the goal. P equations

mabon
Download Presentation

580.691 Learning Theory Reza Shadmehr

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 580.691 Learning Theory Reza Shadmehr Open loop optimal control with signal dependent noise and endpoint constraint Minimum endpoint variance with Lagrange multipliers

  2. Minimize position variance at last time point with the constraint that all states are at the goal P equations p+3 unknowns 3 equations p+3 unknowns

  3. Minimize position variance at time p with the constraint that position is maintained at goal for an additional k time points.

  4. Minimize position variance at time p+k with the constraint that position is maintained at goal for k time points.

  5. Minimize sum of position variance over hold period with the constraint that all states are at the goal at first point in hold period.

More Related