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Learning Decentralized Multi-Biped Control for Payload Transport
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable.
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
We show that prior RL policies trained for unloaded locomotion fail for some loads and that simply training in the context of loads is enough to result in successful and improved policies.
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