2 papers
cs.RO2025
Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
Guillermo A. Castillo, Himanshu Lodha, Ayonga Hereid
This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (…
cs.RO2021
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel +6
Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and…