Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion

Wenqi Cai, Kyriakos G. Vamvoudakis, Sébastien Gros +1

In this paper, we propose a cost-matching approach for optimal humanoid locomotion within a Model Predictive Control (MPC)-based Reinforcement Learning (RL) framework. A parameteri…