A centroidal angular velocity reward, combined with actuator operating-region modeling and transmission load penalties, produces the first demonstrated full front flip on a one-leg hopper.
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Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
A centroidal angular velocity reward, combined with actuator operating-region modeling and transmission load penalties, produces the first demonstrated full front flip on a one-leg hopper.