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This is a set of preliminary lecture notes, not new research, covering optimization, optimal control, and reinforcement learning for robotics. Its value is pedagogical: it links the mathematical foundations of these methods, and it openly discloses that AI tools helped draft the text. Readers should treat it as an unfinished v1 that may change, not as a settled reference.
Optimization, Optimal Control, and Reinforcement Learning for Robotics
arXiv:2610.32538v1 Announce Type: new Abstract: These lecture notes provide an introduction to optimization, optimal control, and reinforcement learning for robotics, emphasizing their mathematical connections and practical relevance. They present established material compiled and edited by Yonghyeon Lee, rather than new research results. The notes were developed through a human and AI collaborative writing process, with AI assistance in drafting, organizing, and refining the exposition. This first version is a preliminary collection of notes, not yet a fully developed textbook, and currently contains no figures or graphs. The notes may be revised, corrected, and expanded in future versions.
Abstract:These lecture notes provide an introduction to optimization, optimal control, and reinforcement learning for robotics, emphasizing their mathematical connections and practical relevance. They present established material compiled and edited by Yonghyeon Lee, rather than new research results. The notes were developed through a human and AI collaborative writing process, with AI assistance in drafting, organizing, and refining the exposition. This first version is a preliminary collection of notes, not yet a fully developed textbook, and currently contains no figures or graphs. The notes may be revised, corrected, and expanded in future versions.
Preliminary lecture notes, version 1. Compiled and edited by Yonghyeon Lee through a human and AI collaborative writing process. No figures; revisions and expansions are planned
Robotics (cs.RO)
arXiv:2610.32538 [cs.RO]
(or arXiv:2610.32538v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.32538 arXiv-issued DOI via DataCite (pending registration)
Text integral sub licența deschisă a publicației · 135 cuvinte
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