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FPG reference



Here is a paper on FPG--which uses policy gradient method for probabilistic planning and "won" IPC 

http://fpg.loria.fr/wiki/images/4/42/Aberdeen07icaps.pdf

(A longer but gentler version is at http://rakaposhi.eas.asu.edu/cse571/fpg-aij.pdf

(they have a wiki page with code etc at  http://fpg.loria.fr/wiki/index.php/Main_Page

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The inverted helecopter flight stuff is described in this paper

http://heli.stanford.edu/papers/iser04-invertedflight.pdf

(http://heli.stanford.edu  has videos of the learned maneuvers)



Rao



The paper