Value Iteration-based Zero-sum Neuro-optimal Control of Modular and Reconfigurable Robots via Adaptive Dynamic Programming
Why this work is in the frame
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Bibliographic record
Abstract
An adaptive dynamic programming (ADP) zerosum neuro-optimal control method based on value iteration (VI) algorithm is proposed for the optimal position and velocity tracking control issues of modular and reconfigurable robots (MRRs). An adaptive fuzzy control method is used to identify Coriolis and centripetal force term as well as gravity term of MRRs. The proposed VI algorithm allows any positive semidefinite function to be initialized. In order to ensure that the iterated value function converges to the optimal solution, the convergence analysis is presented. Based on VI and ADP, the Hamilton-Jacobi-Issacs (HJI) equation is solved by using neural network (NN), then the approximated optimal control is achieved. The asymptotic stability of MRR system is proved by Lyapunov theory. Finally, simulation reaults are presented to show the reliability of proposed method.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it