Paper ID: 2409.05811

Learning control of underactuated double pendulum with Model-Based Reinforcement Learning

Niccolò Turcato, Alberto Dalla Libera, Giulio Giacomuzzo, Ruggero Carli, Diego Romeres

This report describes our proposed solution for the second AI Olympics competition held at IROS 2024. Our solution is based on a recent Model-Based Reinforcement Learning algorithm named MC-PILCO. Besides briefly reviewing the algorithm, we discuss the most critical aspects of the MC-PILCO implementation in the tasks at hand.

Submitted: Sep 9, 2024