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record-of-the-learning-process-for-robot-motion-control's Introduction

学习过程的记录

语雀链接：https://www.yuque.com/g/u37871478/ix7sxu/gd6tr3vgf8bz8xiu/collaborator/join?token=n52NlUJLqvFbQo2O&source=doc_collaborator# 《机器人运动控制算法》

基础资料

传统的机械臂控制是 IK，机器人是 MPC 和零力矩点控制； 目前有很多利用强化学习、模仿学习进、扩散模型进行仿真再 sim to real 进行控制。
这个在读博士总结的很全面，因为他也是从传统控制一步步走到现在强化学习的路上
四/双足机器人的运动规划与控制：一个在读PhD的阶段性回顾 - 知乎

计算机自学指南

CS自学指南北大计算机同学写的计算机学习路线以及优质的课程内容，方便进行学习。

角色动画

games105 课程：Lecture03 Character Kinematics: Forward and Inverse Kinematics_哔哩哔哩_bilibili
里面有很多 IK 和重定向的基础知识，常看常新
评论总结的 PDF：foocker/CharacterAnimation
CharacterAnimation.pdf

强化学习的数学原理

【强化学习的数学原理】课程：从零开始到透彻理解（完结）_哔哩哔哩_bilibili
github 地址：MathFoundationRL/Book-Mathematical-Foundation-of-Reinforcement-Learning: This is the homepage of a new book entitled "Mathematical Foundations of Reinforcement Learning."
里面有 pdf 版本介绍各个章节，常看这个可以了解强化学习的数学公式！

学习笔记

Spinning Up

  • 已总结

Welcome to Spinning Up in Deep RL! — Spinning Up documentation

跟李沐动手学深度学习

  • 符号
  • 引言
  • 预备知识
  • 线性神经网络
  • 多层感知机
  • 深度学习的计算
  • 卷积神经网络
  • 现代卷积神经网络
  • 循环神经网络
  • 现代循环神经网络
  • 注意力机制和transformer
  • 最优化算法
  • 计算性能
  • 计算机视觉
  • 自然语言处理：预训练
  • 强化学习
  • 高斯过程
  • 超参数优化
  • 生成对抗网络
  • 推荐系统

多刚体动力学

  • 待更新

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