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Ashutosh Saxena
CS 4758/6758: Robot Learning Spring 2012. Ashutosh Saxena
Ashutosh Saxena
Goals
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Goals encoded as a Cost Function
� Which areas on the road are good?
Ashutosh Saxena
Optimizing cost function: Descent Methods
� General descent algorithm � Generalization to multiple dimensions � Problems of descent methods, possible
improvements. � Fixes � Local Minima
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Gradient Descent
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Ashutosh Saxena
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Solution to step size
� Back-tracking line search.
◦ Step-size = step-size / 2 ◦ Until new function value gets smaller.
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