Even though it doesn't use any learning process, I think that you might find this video interesting: http://video.google.com/videoplay?docid=375789721064071961

Even though it doesn't use any learning process, I think that you might find this video interesting: http://video.google.com/videoplay?docid=3757897210640719617# http://video.google.com/videoplay?docid=3757897210640719617# The control uses the dynamics of the robot to optimize a trajectory to increase the weight that the robot can lift.