Typical Policy Representation in Policy Search Methods
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Thanks Jan Peters et al for their great work of A Survey on Policy Search for Robotics.
Policy representation may be categorized into time-independent representation
In the following content, we will describe all these representations in their deterministic formulation
Linear Polices
Linear policy
Radial Basis Functions Networks
An RBF policy
Dynamic Movement Primitives
DMPs are most widely used time-dependent policy representation in robotics. The key principle is to use a linear spring-damper system which is modulated by a nonlinear forcing function :
One key innovation of the DMP approach is the use of a phase variable
For each degree of freedom, an individual spring-damper system and forcing function is used.
A policy
Miscellaneous Representations
There exist other representations such as central pattern generators for robot walking and feed-forward neural networks used in simulation.
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