Learning-based methods hold the promise ofsolving hard nonlinear control problems inrobotics.

Then each client alternately estimates its cluster labels and refines the model estimates based on FedAvg or FedProx.

In Step 9, PS{ j( j i,t)}kj=1 lie collaboration St. Inparticulari 2 H, define Yi,t = 1 m X

The results are based on anovelanalysis ofreal-time dynamic programming, thenextended tomodel-based RL.Specifically,wegeneralize existing algorithms that perform full-planning to act by 1-step planning.