DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning Weikang Wan

This paper introduces DiffTORI, which utilizes Diff erentiable T rajectory O ptimization as the policy representation to generate actions for deep R einforcement and I mitation learning. Trajectory optimization is a powerful and widely used algorithm in control, parameterized by a cost and a dynamics function.