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.
Lift, splat, shoot: Encoding images from arbitrary camera rigs by implicitly unprojecting to 3d,
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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.