Deep RL trains a robust humanoid push-recovery policy.
problem Training robust humanoid push-recovery policies.
method Model-free Deep Reinforcement Learning.
result Policy learns robust behaviors across the entire body.
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2 results for “Push-recovery”
This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained in a physics simulator with realistic setting of robot model and low-level impeda…