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Policy search with cross-entropy optimization of basis functions

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Academic year: 2021

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Figure

Fig. 1. A schematic representation of the policy parameterization. The vector θ associates the BFs to the discrete actions
Fig. 2. Comparison between CE policy search and fuzzy Q-iteration for the double integrator
Fig. 3. Generalization of two typical policies over initial states not in X 0 . White markers mean the bicycle was never balanced starting from that initial state; gray markers are proportional in size with the number of times the bicycle was properly bala

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