Chinmayee Wamorkar

RL-Augmented Adaptive Model Predictive Control for Bipedal Locomotion Over Challenging Terrain

Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain interactions. In contrast, reinforcement learning (RL) has achie…