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Reinforcement Learning and Planning for Large-Scale Systems. Therefore, this project will develop a planning and reinforcement learning framework for large-scale system control. On the OP side, methods will be developed to deal with large-scale actions and next states. An approach that accelerates large-scale OP by integrating RL will also be designed. The methods will be validated theoretically as well as in applications, with an application focus on assistive mobile manipulators.