Optimal Control and Reinforcement Learning

Welcome the Jupyter Book notes of the course CMU-16-745.

The majority of the book content and code is based on the work by Prof. Zachary Manchester and Kevin Tracey from the CMU Robotics Institute.

You can view the course lectures online and download the original notes and resources for free!

Lectures

• Dynamics, Linear Systems and Equilibria Review
• Deterministic Optimal Control
• Pontryagin’s Minumum Principle
• Linear Quadratic Regulator
• References

About these notes

• How this was made
• ipynb Cheat Sheet