A reinforcement-learning gait controller that explicitly models closed kinematic chains outperforms one trained on a simplified serial model, both in simulation and on the physical TopA robot.
Feedback control for cassie with deep reinforcement learning,
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Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
A reinforcement-learning gait controller that explicitly models closed kinematic chains outperforms one trained on a simplified serial model, both in simulation and on the physical TopA robot.