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Found 2 papers, 1 papers with code
Learning Modular Robot Locomotion from Demonstrations
This work presents a method that uses demonstrations from one set of designs to accelerate policy learning for additional designs.
Learning Modular Robot Control Policies
One could craft a policy from scratch for each new design, but such an approach is not scalable, especially given the large number of designs that can be generated from even a small set of modules.
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