RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion

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Authors: Dongho Kang, Jin Cheng, Miguel Zamora, Fatemeh Zargarbashi, Stelian Coros

Journal title: IEEE Robotics and Automation Letters

Journal number: 8

Journal publisher: IEEE

Published year: 2023

Published pages: 6619-6626

DOI identifier: 10.1109/lra.2023.3307008

ISSN: 2377-3766