A modular residual learning framework, with a reinforcement-learned footstep and gait-phase correction and a supervised-learned dynamics correction, makes a nominal MPC quadruped controller robust to payloads, disturbances, and out-of-distribution conditions.
Real-time constrained nonlinear model predictive control on so (3) for dynamic legged locomotion,
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A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion
A modular residual learning framework, with a reinforcement-learned footstep and gait-phase correction and a supervised-learned dynamics correction, makes a nominal MPC quadruped controller robust to payloads, disturbances, and out-of-distribution conditions.