Estimating robot dynamics parameters from trajectory data alone inside a differentiable simulator, inside the reinforcement learning loop, is claimed to improve trajectory following in bipedal locomotion.
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Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification
Estimating robot dynamics parameters from trajectory data alone inside a differentiable simulator, inside the reinforcement learning loop, is claimed to improve trajectory following in bipedal locomotion.