ConstrainedMimic integrates operational space control and control barrier functions into RL tracking policies to enforce arbitrary runtime constraints on humanoid kinematics and dynamics while preserving contact modes and tracking goals.
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Constrained Whole-Body Tracking for Humanoid Robots
ConstrainedMimic integrates operational space control and control barrier functions into RL tracking policies to enforce arbitrary runtime constraints on humanoid kinematics and dynamics while preserving contact modes and tracking goals.