GitHub

Optimizing Humanoid Gait with Arm Articulation and Extended Observations in Deep RL

This repository contains code for training humanoid robots to run using Deep Reinforcement Learning (Deep RL). It focuses on optimizing gait by incorporating arm articulation and extending observation ...
IEEE

Benchmarking Model Predictive Control and Reinforcement Learning-Based Control for Legged Robot Locomotion in MuJoCo Simulation

Abstract: Model Predictive Control (MPC) and Reinforcement Learning (RL) are two prominent strategies for controlling legged robots. RL learns control policies through system interaction, adapting to ...