Description:
The videos show the generated plans using the approximate model and the CEM trajectory optimizer. The bright robot displays the starting state and the darker robots visualize the 10 plans with the highest reward. The videos vary in length due to the different planning horizons. The videos are shown at 0.25x. For all systems except for ball in a cup and humanoid, the generated plans are feasible and do not diverge. For ball in cup, the ball often passes through the cup. For the humanoid a trajectory is found that exploits the model and magically raises the humanoid from the floor to float midair.