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dfki-ric-underactuated-lab / torque_limited_simple_pendulum

Torque Limited Simple Pendulum Underactuated System
BSD 3-Clause "New" or "Revised" License
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trajectory following clarification #6

Closed ricopicone closed 2 years ago

ricopicone commented 2 years ago

https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/blob/222c610b6ce8e684f7141c1eeddbeb8f85f45b65/paper/paper.md?plain=1#L161

Clarify how the "closed-loop" and "RL" controllers differ from trajectory following. Consider if there might be a better term besides "closed-loop," considering these are all actually closed-loop in the usual sense.

fwiebe commented 2 years ago

Thanks for your feedback @ricopicone! You are right, the categories were a bit ambiguous. I changed the categories to "trajectory-based control" and "policy-based control" (6caf96f4663ef8034b60dbd6d34ced5f1d8d5081) to highlight that some controllers try to follow a specific (precomputed) trajectory and others operate on a state-space covering policy. Hope this is more clear and in no conflict with common terminology.