A constrained whole-body follower enforces hard and soft safety limits on top of RL-generated joint trajectories, improving hexapod locomotion safety without retraining.
Perception-less terrain adaptation through whole body control and hierarchical optimization,
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Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization
A constrained whole-body follower enforces hard and soft safety limits on top of RL-generated joint trajectories, improving hexapod locomotion safety without retraining.