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Many real-world applications are characterized by multiple conflicting objectives. In such problems, optimality is replaced by Pareto optimality and the goal is to find the Pareto frontier, a set of solutions representing different compromises among the objectives. Despite recent advances in multi-objective optimization, the selection, given the Pareto frontier, of a Pareto-optimal policy is still...
For controlling high-dimensional robots, most stochastic optimal control algorithms use approximations of the system dynamics and of the cost function (e.g., using linearizations and Taylor expansions). These approximations are typically only locally correct, which might cause instabilities in the greedy policy updates, lead to oscillations or the algorithms diverge. To overcome these drawbacks, we...
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