A two-phase RL framework with a nominal policy and a GRF-rewarded adaptive policy improves payload adaptation for quadrupedal locomotion across varied terrains.
Learning agile locomotion and adaptive behaviors via rl-augmented mpc,
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MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
A two-phase RL framework with a nominal policy and a GRF-rewarded adaptive policy improves payload adaptation for quadrupedal locomotion across varied terrains.