Reinforcement Learning

Template model inspired task space learning for robust bipedal locomotion
A hierarchical framework for bipedal locomotion that combines an RL-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL) controller to track the desired task space trajectories.
Template model inspired task space learning for robust bipedal locomotion
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion
A novel model-free reinforcement learning (RL) framework to design cascade feedback control policies for 3D bipedal locomotion.
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion