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RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control.
SeungHyeon Bang
Carlos Arribalzaga Jové
Luis Sentis
Published in:
CoRR (2024)
Keyphrases
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humanoid robot
legged locomotion
optimal control
rough terrain
markov decision processes
robotic systems
reinforcement learning
computer vision
image sequences
dynamic environments
closed loop
model free
control policy
reinforcement learning methods