DoublyAware combines conformal trajectory filtering with a group-relative policy constraint to improve sample efficiency of TD-MPC for simulated humanoid locomotion.
Real-world humanoid locomotion with reinforcement learning,
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DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion
DoublyAware combines conformal trajectory filtering with a group-relative policy constraint to improve sample efficiency of TD-MPC for simulated humanoid locomotion.