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Reinforcement Learning for Reduced-order Models of Legged Robots
Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and …
Yu-ming Chen, Hien Bui, Michael Posa
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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning
In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and …
Hien Bui, Michael Posa
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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning