Optimization, Optimal Control, and Reinforcement Learning for Robotics

Yonghyeon Lee

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arXiv · 2610.32538

Optimization, Optimal Control, and Reinforcement Learning for Robotics

Yonghyeon Lee

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Abstract

These lecture notes provide an introduction to optimization, optimal control, and reinforcement learning for robotics, emphasizing their mathematical connections and practical relevance. They present established material compiled and edited by Yonghyeon Lee, rather than new research results. The notes were developed through a human and AI collaborative writing process, with AI assistance in drafting, organizing, and refining the exposition. This first version is a preliminary collection of notes, not yet a fully developed textbook, and currently contains no figures or graphs. The notes may be revised, corrected, and expanded in future versions.

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Yonghyeon Lee. 2026-10-23. Optimization, Optimal Control, and Reinforcement Learning for Robotics. https://arxiv.org/abs/2610.32538

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