ros SOLIDWORKSurdfcatkin_make roslaunch description dispaly.launch roslaunch description gazebo.launch urdf p(x) u(t). Please use the NLTK Downloader to obtain the resource: >>> nltk.download(), : \mathcal{H}, v(t) q , , . (3) , Linear-quadratic-Gaussian control. Wikipedia, The Free Encyclopedia. , : CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (f, "/home/dj/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log", "/home/dj/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log", roslaunch px4 mavros_posix_sitl.launchgazebo, make px4_sitl_default gazebo[code=cpp] , 1.1:1 2.VIPC, resource not found: ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/sh, 1.resource not found: ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/sh2.Running xacro failed.Please check console for errors1.2.source devel/setup.bash, sudo apt install ros-melodic-gazebo-ros-pkgs \theta . Linear-quadratic regulator. Wikipedia, The Free Encyclopedia. Could not f. 1dialout: S Resource taggers/averaged_perceptron_tagger/averaged_perceptron _tagger.pickle not found. XXl()l(\tau)l(xt,ut)l(x_t,u_t), Thanks Jan Peters et al for their great work of A Survey on. source devel/setup.bash. reinstall ros2_control so the package can be used during other demos and exercises. MoveIt Setup AssistantMoveItROS SRDF URDF/SDRF; MoveIt(pipeline) . GPSmodel-free, model-basedDDP. [1] Sergey Levine, Vladlen Koltun, Guided Policy Search, ICML 2013, [2] Weiqiao Han, Sergey Levine, Pieter Abbeel, Learning Compound Multi-Step Controllers under Unknown Dynamics, IROS 2015, [3] Sergey Levine, Chelsea Finn, Trevor Darrell, Pieter Abbeel, End-to-End Training of Deep Visuomotor Policies, JMLR 17, 2016, [4] Sergey Levine, Pieter Abbeel. , . Ubuntu18.04 + ROS melodicROS, gazeboROS, ROSgazebogazebo_ros_pkgsROSgazebo_ros_pkgs, gazebo_ros_pkgsgazebo_rosgazebo_msgsgazebo_plugins, gazebo_ros_pkgsgazebo,, gazebo_ros_controlROSgazebo, gazebomodelsgazebo, gazebourdfrvizgazeboROSgazeboRRBot, RRBot32gazebourdf, RRBotgazebo_ros_demos github/srcsrcgazebo_ros_demos, ./rrbot_description/launch/rrbot_rviz.launch, Joint State Publisher, gazeborvizROSrviz, xarcourdf, , urdfurdf, gazebo_rosROSROSgazebo, gazebo_pluginsgazebo. \zeta, x_t, (action) p(x) y(t). Traceback (most recent call last): ROS fuertecatkingroovyhydrocatkin . PC Setup. While it works in theory, MoveIt IKFast doesnt currently support >7 degree of freedom arms. showing info https://raw.githubusercontent.com/, Resource punkt not found., , , . g(ut|xt)=g(ut;g(xt),Q1uut) \bar{r}(x_t, u_t)=r(x_t, u_t)+\log{\pi_\theta(u_t \mid x_t)}. 1.resource not found: ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/sh, 2.Running xacro failed.Please check console for errors, 354: K(t) , GPS Eq. u_i V(t) (\bar{x}_1, \bar{u}_1), , (\bar{x}_T, \bar{u}_T), , maxTt=1r(xt,ut) (Importance Sampled), \pi_{\theta^*}; 12, 13, , melodicROS(melodicUbuntu18.04): "restricted" "universe" "multiverse. \max_{\pi}\sum_{t=1}^Tr(x_t, u_t). Dokiq: : . () \omega_r; 15, 16, , Web. Wikipedia, The Free Encyclopedia, 18 May. ()expr() Wikipedia, The Free Encyclopedia, 15 May. (Policy gradient method), Sergey, , . ROS-----rviz.bagFor frame [XX]: Fixed Frame [XXX] does not exist rviz.bagbagRvizbag1==1==ROS2 , , . make: *** [px4_sitl_default] Error 1] Installation. q\rho, , KL, ixix_i , . , ~: ROSROS Step 1: Build the Xacro/URDF model of the multiple arms; Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant; Step 3: Write the ROS controllers configuration and launch files for the multiple arms; Step 4: Integrate the simulation in Gazebo with MoveIt motion planning; Step 5: Plan arms motions with MoveIt Move Group Interface. \pi_{\theta_k} \omega_r \in [10^{-6}, 10^{-1}], 10. Git(git branch --set-upstream-to=origin/ ), Metaapple-mobile-web-app-capable, wampserverapache . U^* P(t_1) = F(t_1) . \mathcal{S}, , DDP, , . Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics, NIPS, 2014, [5] Sergey Levine, Nolan Wagener, Pieter Abbeel, Learning Contact-Rich Manipulation Skills with Guided Policy Search, ICRA 2015, [6] Ziebart, Modeling purposeful adaptive behavior with the principle of maximum causal entropy, Ph.D thesis, Carnegie Mellon University, 2010, [7] Wikipedia contributors. \Phi(\theta), Eq. A^TP(t) + P(t)A - (P(t)B + N)R^{-1}(B^TP(t) + N^T) + Q = -\dot P(t) , , https://blog.csdn.net/qq_30334533/article/details/106985446, struct ListNode { * int val * ListNode *next * ListNode(int x) : val(x), next(NULL), gnoring transform for child_frame_id left_Link from authority unknown_publisher. W(t) w(t) p(x_{t+1} \mid x_t, u_t) Ji , : , J_i: Riccati(Riccati differential equation), (running forward in time), (running backward in time). , . (duality). D_{KL}(q\parallel\rho) = \sum {q\log\frac{q}{\rho}} = E_q[-r(\zeta)] - \mathcal{H}(q). , Levine 13, DDP, . . Some links:ros2_tracing. v(t) , 1.1:1 2.VIPC, PythonNLTKLookupError: from nltk.book import, 1968pipNLTKsudo pip ins. cd ~ minL(L(,Dtr),Dval)\min_\theta \sum_{\tau} L(\theta -\alpha \nabla_\theta L(\theta, D_\tau^{tr}),D_\tau^{val})minL(L(,Dtr),Dval #1. [ninja: build stopped: subcommand failed. \zeta. Ubuntu18.04 + ROS melodicROSgazeboROS ROSRO \mathcal{S}; 6, . . GPS, , Python, , ROSGazebo, . , https://blog.csdn.net/haoaiqian/article/details/70233454. \hat{x}(t). Specifically, you will learn how to set up the official ROS repo, add official ROS keyring to ROS 2 will become the new normal. , , . These wrappers provide functionality for most operations that the average user will likely need, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot. Discrete time LQGLQG, : (Differential Dynamic Programming[9]), (trajectory optimization)(optimal control). 8.1, ORBSLAM3/usr/lib/x86_64-linux-gnu/libgdcmMSFF.so.2.8uuid_generate@UUID_1.0, /usr/lib/x86_64-linux-gnu/libgdcmMSFF.so.2.8uuid_generate@UUID_1.0 t, Zt()Z_t(\theta). r off-policy, , . , Eq. LQ (Linear Quadratic) . The last release was ROS Melodic and will reach end of support in May 2023. sudo usermod -a -G dialout $USER , follow, (1), (2). Do not apply this instruction to your TurtleBot3. T(xt,ut)(x_t, u_t), ERROR: cannot download default sources list from:https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down. v(t). g sudo apt-get install py 1. 23 May. u=argminuQ(u,x)=Q1uu(Qu+Quxx) 2016, [8] Wikipedia contributors. W(t), \sum_t{\nabla\log{\pi_\theta(u_t \mid x_t)}} , make px4_sitl_default gazebo[code=cpp] Sk (3), , Differential dynamic programming. Wikipedia, The Free Encyclopedia. p Download the proper Ubuntu 18.04 LTS Desktop image for your PC Universal Robot. Here you will learn how to install ROS Noetic on Ubuntu 20.04. \pi_g, , , . :) 23 May. ; 4, 10, Eq. GPSmodel-free, model-basedDDP. g(x_t), U=argminUJ0(x,U) Move Group C++ Interface. w(t), It was released on May 23, 2020 and supported until May 2025. (Direct Policy Search), , , .(Guided Policy Search), (trajectory optimization), . x_0, r(xt,ut)=r(xt,ut)+log(utxt) q(x), V(x, N) = \ell_f(x_N) . , 1.1:1 2.VIPC, PX4git submodule update --init --recursivemake posix_sitl_default gazebosudo apt install -y \ninja-build \exiftool \python-argparse \python-empy \python-toml \python-numpy \python-yaml \python-dev \python-pip \ninja-, 1.2 xquartzpython K(t)Kalman FilterKalman(Kalman gain).: , ROS. 2. sudo apt-get update /usr/lib/x86_64-linux-gnu/libgdcmMSFF.so.2.8uuid_parse@UUID_1.0 . J0 IP /etc/hosts IP, 2.ip: raw.githubusercontent.comIP, :151.101.76.133 raw.githubusercontent.com (ip), 4.rosdeprosdep update (), noetic, http://wiki.ros.org/melodic/Installation/Ubuntu, 2.1.5 msgA(C++), 2.1.6 msgB(Python), 2.2.3 srvA(C++), 2.2.4 srvB(Python), 4.4.1 rosrun, 4.4.2 launch, 4.4.3 , 6.7.1 , 8.2 arduino, 8.3.1 _, 8.4.3 _02Arduino, 8.4.4 _03Arduino, 8.5.4 _ros_arduino_bridge, :_ROS, https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list, http://wiki.ros.org/melodic/Installation/Ubuntu. K_k = (R + B^TP_kB)^{-1}(B^TP_kA + N^T) , ROS-Industrial Universal Robot meta-package. , , Eq. P_{k-1} = A^TP_kA - (A^TP_kB + N)(R + B^TP_kB)^{-1}(B^TP_kA + N^T) + Q , x^(t) , DDPoff-policy, , . Ubuntu18.04 + ROS melodicROS, gazebourdfgazebourdfsdfurdfgazebo, urdfgazebo, reference="", gazebourdfAPIgazebo xml-schema urdf, xacroxacroxml, reference ="", ROS REP 103gazebomkg gazebo9.81 m/ s^2 kg, gazeborvizgazebo gazebo, / Blender Maya3DS Max, gazebogazebo, RRBotgazeborrbot.gazebo, gazebogazebogazebo/media/ materials/scripts/gazebo.material, OGREThe SDF documentation OGRE materials documentation, rvizgazeboSTLColladaCollada.daeSTL, gazebogazebo ixxiyyizz, gazebo SolidworksCAD, RRBot gazeboViewWireframeCenter of Mass, urdf joint gazebo, 0.7 N*m*s/rad, 0.7 N*m*s/rad/, gazebourdfsdf , gazeboRRBotgazebo, roslaunchgazebourdf, urdfworldbase RRBot, "http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor", "http://playerstage.sourceforge.net/gazebo/xmlschema/#controller", "http://playerstage.sourceforge.net/gazebo/xmlschema/#interface", "http://playerstage.sourceforge.net/gazebo/xmlschema/#xacro", , gazebo/media/ materials/scripts/gazebo.material, xacrourdfurdfxacro, world/base_link, gazebo4 Gazebo5. log(i) 1 1968. V(x,N)=f(xN) ATP(t)+P(t)A(P(t)B+N)R1(BTP(t)+NT)+Q=P(t) , (Differential Dynamic Programming)(Guiding samples), , (regularized importance sampled policy optimization), . (), : xt t K=Q1uuQux 3, ut Sergey Levine. webpack-dev-server ?? BBilibilihttps://space.bilibili.com/511221970?spm_id_from=333.788.b_765f7570696e666f.2 , , , , . roslaunch px4 mavros_posix_sitl.launchgazebo, A laity: sudo add-apt-repository ppa:george-edison55/cmake-3.x -y P t+1. Sutton and Barton 2016, [9] Wikipedia contributors. i=N1 https://blog.csdn.net/qq_27130627/article/details/85223779?spm=1001.2014.3001.5501, 1.1:1 2.VIPC. MoveIt IKFast is tested on ROS Melodic with a 6DOF and 7DOF robot arm manipulator. , . p(xt+1xt,ut) r(\zeta) , .: : , , U_i= \lbrace u_i, u_{i+1}, , u_{N-1} \rbracecost-to-go q^* = \arg \min_{q \in P} { D_{KL}(q \parallel \rho) }, S Makefile:198: recipe for target 'px4_sitl_default' failed , , , (-_-). sudo easy_install pip #pip, a sample program of sent data to internet by simulate explor, a sample program of sent data to internet by simulate explore, resource not found: ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/sh, 1.resource not found: ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/sh The following sections detail installing the packages using the binary distribution and building them from source in a Catkin workspace. , , . k q U t+1 GPS(DDP), , , . t i Makefile:198: recipe for target 'px4_sitl_default' failed 2016. \delta u^* = \arg \min_{\delta u} { Q(\delta u, \delta x) } = -Q_{uu}^{-1}(Q_u + Q_{ux}\delta x ),(open-loop term) k Z=m Z=m. . DKL(q)=qlogq=Eq[r()]H(q) , : missing script: start npm ERR! t(time step tt), , (observe)agent (state) Non-Beginners: If you're already familiar enough with ROS fuerte or earlier versions and only want to explore the new build system introduced in groovy and used in hydro and later, called catkin, you can go through more in-depth catkin tutorial here.However, going over all basic Beginner Level tutorials is still recommended for all users to get exposed to new E[\nabla J(\zeta)], . t \in [t_0, t_1], : , V(x,N)=f(xN) , , DDP \theta_k, , , . w(t) D_{KL}(q\parallel\rho)KL(KL-Divergence), 1.2.6 :ROS. sudo apt-get install ros-melodic-controller-interface ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller Namely the description of Go1, A1, Aliengo and Laikago. Web. The control framework is based on "Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot" . https://github.com/zhoubolei/introRL. i k . Wikipedia, The Free Encyclopedia, 28 Jan. 2016. Riccati-(linear-quadratic estimation problem), Riccati-(linear-quadratic regular problem). nltk download(punkt) 1. k=-Q_{uu}^{-1}Q_u, (feedback gain term) t[t0,t1] J_0, . , Eq. x(t) This repository is currently built automatically by two systems. \pi, agent. () K=-Q_{uu}^{-1}Q_{ux}. \pi_{\theta^*}. DKL(q) 8 8.1 8.2 Behavioral cloning and DAGGER8.3 Inverse RL and GAIL8.4 8.5 8.6 Case studies NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS1 Melodic Morenia.. Download and Install Ubuntu on PC. \pi_\theta, , (utxt) IntroductionMethod MAML x(t), , , . , , 15IROS[2], , PR2, , DEMO, , . /usr/lib/x86_64-linux-gnu/libgdcmMSFF.so.2.8uuid_unparse@UUID_1.0. Kt Dokiq: There are two different ways to install the packages in this repository. DDP, Importance Sample. PN=Q \pi_g(u_t|x_t) = g(u_t; g(x_t), -Q_{uut}^{-1}). , . P \pi_{\theta^*}, .. , , , , . U , 'hello_world! \rho(\zeta) \propto \exp{r(\zeta)})I-projection. qj() Ubuntu18.04 + ROS melodicROS urdf. , , . (i,1:t) . 2.Running xacro failed.Please check console for errors ROS[publish_dedcription_turtlebot2.launch] is neither a launch file in package [file_server] nor is [file_server] a launch file name The traceback for the exception was written to the log filelaunch sdfurdf gazebosdfurdfxacrourdfsdfgazebourdfROSgazeboROSurdfgazebosdfROSROSrvizsdf , PD. Sergey Levine, , . Kk=(R+BTPkB)1(BTPkA+NT) . ROS()GazeboROS iwehdiohttps://www.cnblogs.com/iwehdio/ Gazebo Using roslau transmission, _: GPSmodel-free, model-basedDDP. I would prefer the first option, because this is way easier to maintain with xacro. Ep[f(x)] Github Actions builds the documentation for Noetic, and ROS Build Farm builds the documentation for older versions: ROS Noetic: ROS Melodic: ROS Kinetic: Versions. , . [/code], Self-learnning: t, x(t)x(t) , , DDP. LQG Kalman FilterLinear quadratic regular(LQR). Move Group Python Interface. U^*., \nabla\log{\pi_\theta(\zeta_i)} i=1 See the ROS wiki page for compatibility information and other more information.. xt LQG.LQG: , , weixin_45670091: Resource punkt not found. Pk1=ATPkA(ATPkB+N)(R+BTPkB)1(BTPkA+NT)+Q terminal , Levine 13, DDP, . Pk . Vt(xt)=logexp(Qt(xt,ut))dut \lbrace k(i), K{i} \rbrace, pass(the backward pass), P_N = Q . \theta^* \leftarrow \theta_k, CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. \mathcal{S}_k, , K_t. ()exp(r()) There is now a distinction between a URDF file and a URDF data structure. r q(x) v(t), . [ninja: build stopped: subcommand failed. Traceback (most recent call last): File E:\python\lib\site-packages\nltk\corpus\util.py, line 80, in __load try: root = nltk.data.find({}/{}.format(self.subdir, zip_name)) File E:\python\lib\site-packages\nltk\data.py, line 648, in find raise LookupError(resource_not_found) LookupError: Resource corpora/brown.zip/brown/ not found. sudo apt install ros-melodic-gazebo-ros-pkgs ui XTDroneXTDronePX4ROSGazeboquadplanetailsittertiltrotor , ( , , , , , , . , , . off-policy, . , ., .: , Importance Sampleoff-policy, , . ROS Packages for CHAMP Quadruped Controller. V(i), bashrc , vins-learning: ': i=N-1 x^t=xtxt,u^t=utut The core URDF parser and data structures (urdfdom, urdfdom_headers) have been pushed upstream into stand alone (no ROS-dependencies) software packages that will in the future be released into Ubuntu completely separate from ROS. r[106,101] 7, LBFGS , . \theta^*., @(DRLDRL optimal control theory LQRiLQR , (1) Z() normalize the weights,weights Introduction Web. (3), Importance Sample, . A complete log of this run can be found in: npm ERR! E[J()] V(i) (1) Z() m ? import nltk nltk.download() >d punkt nltk2. \hat{x}_t=x_t-\bar{x}_t, \hat{u}_t=u_t-\bar{u}_t, (, ): , , , , 2 Reinforcement Learning: An Introduction Ui={ui,ui+1,,uN1} E_p[f(x)].: , brew install xquartz q() Click on the browse button and navigate to the panda_arm.urdf.xacro file installed when you installed the Franka package above. WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. q=argminqPDKL(q) \theta q(x) One of the simplest MoveIt user interfaces is through the Python-based Move Group Interface. -Q_{uut}^{-1}. \pi(\zeta) , u(t) 2016. V(t) \pi ppassive dynamics, pp, : , : {k(i),Ki} , , , , . K=R1(BTP(t)+NT) U^* = \arg{\min_{U}{J_0(x, U)}} . Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ConnectTimeoutError, pip install pandas -i http://pypi.douban.com/simple --trusted-host pypi.douban.com, git clone http://github.com github.com.cnpmjs.org git clone https://github.com.cnpmjs.org/PX4/Firmware, github.com.cnpmjs.orggit clone git submodule update --init --recursive, .gitmoduleurl , .gitmodulesgithub.comgithub.com.cnpmjs.org [submodule mavlink/include/mavlink/v2.0] path = mavlink/include/mavlink/v2.0 url = https://github.com.cnpmjs.org/mavlink/c_library_v2.git branch = master, Gazebo[Err] [REST.cc:205] Error in REST request, url : https://api.ignitionfuel.org url: https://api.ignitionrobotics.org, weixin_49419787: Resource not found LWC Resource not found [/code], https://blog.csdn.net/wangdongjiab/article/details/107230585, git submodule update --init --recursive, roslaunch px4 mavros_posix_sitl.launch. PCL1.8.0PointCLoud2PCLVoxelGridPCLVoxelGridPointCloud2PointCloud H p(x_{t+1} | x_t, u_t) , pass, pass(the forward pass). , . \zeta, ROS Tutorials. , , , , . 1 ImportError: No module named future \pi(u_t \mid x_t ), , , V_t(x_t)=\log{\int{\exp{\left(Q_t(x_t, u_t)\right)}}\mathrm{d}u_t}. urdfROSXML urdf xacrourdfurdfxacro In MoveIt, the simplest user interface is through the MoveGroupInterface class. Please use the, wampapache64 : ROSnoeticnoeticROS(ROS)ROSmelodickinetic URDFUnified Robot Description Formatpart 3.1 URDFURDF.xacro URDF.gazebogazebogazebo , ,, . \zeta_i 2016, Mr.Si_math: wampapache64 : u_t. \pi1T (1) Z() normalize the weights,weights q(x) P(t1)=F(t1) , -(Linear-quadratic-gaussian[8])LQ.LQG, , . p(xt+1|xt,ut) , , (). , LQG.LQGLQELQR. q_j(\zeta)DDP. catkin_make k=Q1uuQu It provides easy to use functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot. , (1), on-policy, , , . Click on the Create New MoveIt Configuration Package button to bring up the following screen:. Q1uut (x1,u1),,(xT,uT) \rhoI-projection: g(xt) V(x, N) = \ell_f(x_N), : : q= (2) 1. i=1 w(t), . q=\rho, KL0. P_k , \rho_\theta(\zeta) \propto \exp{(\bar{r}(\zeta))}I-projection. \theta^*. , ROS-----rviz.bagFor frame [XX]: Fixed Frame [XXX] does not exist rviz.bagbagRvizbag1==1==ROS2 sdfurdf gazebosdfurdfxacrourdfsdfgazebourdfROSgazeboROSurdfgazebosdfROSROSrvizsdf T , , . 23 May. Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics. This will bring up the start screen with two choices: Create New MoveIt Configuration Package or Edit Existing MoveIt Configuration Package. , Sergey, [2] [3 - 5], [3][4 - 5], , , ., , Sergey13, Guided Policy Search[1]. , we-ai: x_tConfiguration, , , . npm npm ERR! t x0 r() \pi_\theta(\zeta_{i, 1:t}) ", apt( apt-get, apt apt-get),apt , ROS:ROS :Desktop-FullDesktopROS-BaseDesktop-Full(): ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception. , XadBo: K = R^{-1}(B^TP(t) + N^T) , q(\zeta). \omega_r. y(t) q, qq, broad distribution. make: *** [px4_sitl_default] Error 1] Each package includes mesh, urdf and xacro files of robot. GPS[1], Levine 13, DDP, . , webpack-dev-server ?? q(\zeta) = \frac1{n} \sum_j {q_j(\zeta)}, Importance Sampled, off-policy. , https://blog.csdn.net/qq_27130627/article/details/85223779?spm=1001.2014.3001.5501, https://blog.csdn.net/sunbibei/article/details/51485661, Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics, Ubuntu14.04ROS indigo Eclipse. q()=1njqj() tlog(utxt) ROSnoeticnoeticROS(ROS)ROSmelodickinetic. 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