LooperMuscle trains a humanoid whole-body tracking policy in about 45 minutes, cutting body error by 34% versus FastSAC and reaching 72% of PPO's reward, versus PPO's 6 hours.
A distributional per- spective on reinforcement learning,
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LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
LooperMuscle trains a humanoid whole-body tracking policy in about 45 minutes, cutting body error by 34% versus FastSAC and reaching 72% of PPO's reward, versus PPO's 6 hours.