RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain | Stephanie Soquet
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RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain | Stephanie Soquet
"RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain. Abstract— Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain ...
19.1K views1 week ago
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