ReActor jointly optimizes motion retargeting and RL policy training with an approximate gradient to generate physically consistent robot motions from human references using only sparse body correspondences.
In: Robotics: Science and Systems XIV, RSS2018
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Integrates iterative learning control with a torque library to enable high-precision adaptive locomotion on bipedal and quadrupedal robots, reducing tracking errors by up to 85% and achieving over 30x faster control rates.
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ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
ReActor jointly optimizes motion retargeting and RL policy training with an approximate gradient to generate physically consistent robot motions from human references using only sparse body correspondences.
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Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion
Integrates iterative learning control with a torque library to enable high-precision adaptive locomotion on bipedal and quadrupedal robots, reducing tracking errors by up to 85% and achieving over 30x faster control rates.