MPC-Injection biases off-policy RL locomotion policies toward controller-induced behavior basins by injecting MPC transitions into the replay buffer.
Olaf: Bringing an animated character to life in the physical world
3 Pith papers cite this work. Polarity classification is still indexing.
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QuietWalk combines an inverse-dynamics-constrained PINN for GRF estimation with RL to produce low-impact humanoid locomotion policies that generalize across footwear, cutting mean noise by 7.17 dB on hardware.
A thermal residual policy on a pre-trained quadruped locomotion controller prevents motor overheating under payload while preserving performance, lasting over 13 minutes on a Unitree A1 versus ~5 minutes for the nominal policy.
citing papers explorer
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MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
MPC-Injection biases off-policy RL locomotion policies toward controller-induced behavior basins by injecting MPC transitions into the replay buffer.
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QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
QuietWalk combines an inverse-dynamics-constrained PINN for GRF estimation with RL to produce low-impact humanoid locomotion policies that generalize across footwear, cutting mean noise by 7.17 dB on hardware.
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Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
A thermal residual policy on a pre-trained quadruped locomotion controller prevents motor overheating under payload while preserving performance, lasting over 13 minutes on a Unitree A1 versus ~5 minutes for the nominal policy.