I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning.
Yashuai YanEsteve Valls MascaroTobias EgleDongheui LeePublished in: CoRR (2024)
Keyphrases
- reinforcement learning
- humanoid robot
- control problems
- imitation learning
- sensory feedback
- motion planning
- robot control
- optimal control
- control system
- function approximation
- control strategies
- markov decision processes
- reinforcement learning algorithms
- biologically inspired
- machine learning
- action selection
- control policy
- real robot
- control method
- multi modal
- robotic systems
- motion capture
- temporal difference
- human robot
- learning algorithm
- human robot interaction
- optimal policy
- video sequences
- multi agent
- visual servoing
- control strategy
- body movements
- motor control
- three dimensional