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cs.LG2026
Efficient Morphology-Control Co-Design via Stackelberg Proximal Policy Optimization
Yanning Dai, Yuhui Wang, Dylan R. Ashley +1
Morphology-control co-design concerns the coupled optimization of an agent's body structure and control policy. This problem exhibits a bi-level structure, where the control dynami…
cs.LG2024
Dual Action Policy for Robust Sim-to-Real Reinforcement Learning
Ng Wen Zheng Terence, Chen Jianda
This paper presents Dual Action Policy (DAP), a novel approach to address the dynamics mismatch inherent in the sim-to-real gap of reinforcement learning. DAP uses a single policy…