MPC-RL combines a centroidal-dynamics MPC reward with a batched GPU solver (π^n MPC) to accelerate RL training for humanoid locomotion and manipulation tasks.
RL-augmented Adaptive Model Predictive Control for Bipedal Loco- motion over Challenging Terrain,
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Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
MPC-RL combines a centroidal-dynamics MPC reward with a batched GPU solver (π^n MPC) to accelerate RL training for humanoid locomotion and manipulation tasks.