Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Leveraging Randomized Smoothing for Optimal Control of Nonsmooth
  Dynamical Systems   Optimal control (OC) algorithms such as Differential Dynamic Programming
(DDP) take advantage of the derivatives of the dynamics to efficiently control
physical systems. Yet, in the presence of nonsmooth dynamical systems, such
class of algorithms are likely to fail due, for instance, to the presence of
discontinuities in the dynamics derivatives or because of non-informative
gradient. On the contrary, reinforcement learning (RL) algorithms have shown
better empirical results in scenarios exhibiting non-smooth effects (contacts,
frictions, etc). Our approach leverages recent works on randomized smoothing
(RS) to tackle non-smoothness issues commonly encountered in optimal control,
and provides key insights on the interplay between RL and OC through the prism
of RS methods. This naturally leads us to introduce the randomized Differential
Dynamic Programming (R-DDP) algorithm accounting for deterministic but
non-smooth dynamics in a very sample-efficient way. The experiments demonstrate
that our method is able to solve classic robotic problems with dry friction and
frictional contacts, where classical OC algorithms are likely to fail and RL
algorithms require in practice a prohibitive number of samples to find an
optimal solution.

17
The categories of this paper are: q-fin
26
The categories of this paper are: bayes-an
8
The categories of this paper are: hep-ex
4
The categories of this paper are: cond-mat
32
The categories of this paper are: atom-ph
25
The categories of this paper are: patt-sol
21
The categories of this paper are: adap-org
34
The categories of this paper are: chem-ph
19
The categories of this paper are: eess
9
The categories of this paper are: nlin
29
The categories of this paper are: funct-an
16
The categories of this paper are: stat
22
The categories of this paper are: chao-dyn
12
The categories of this paper are: nucl-th
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex