A modular RL framework separates basic gaits from task actions via an oscillator plus feedback and uses a posture state machine to switch between ball-seeking/kicking and fall recovery for bipedal soccer robots in simulation.
Neu- ral Network-Based Ball Trajectory Control of Solenoid Kickers for Autonomous Soccer Robots
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Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
A modular RL framework separates basic gaits from task actions via an oscillator plus feedback and uses a posture state machine to switch between ball-seeking/kicking and fall recovery for bipedal soccer robots in simulation.