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.
Deep Reinforcement Learning for Low-Cost Humanoid Robot Soccer Players: Dynamic Skills and Efficient Transfer
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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.