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cs.RO2025
Sim2Real Reinforcement Learning for Soccer skills
Jonathan Spraggett
This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL method…
cs.RO2025
Learning to Get Up Across Morphologies: Zero-Shot Recovery with a Unified Humanoid Policy
Jonathan Spraggett
Fall recovery is a critical skill for humanoid robots in dynamic environments such as RoboCup, where prolonged downtime often decides the match. Recent techniques using deep reinfo…