Biped robots with passive springs learn high-performance locomotion more efficiently via model-based RL by exploiting natural limit cycles from dynamic body-ground interactions.
Simple decentralized control mechanism that enables limb ad- justment for adaptive quadruped running,
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Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Biped robots with passive springs learn high-performance locomotion more efficiently via model-based RL by exploiting natural limit cycles from dynamic body-ground interactions.