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This paper presents the development of a hybrid control for an Atlas humanoid robot moving forward in a static locomotion regime. The experiments are carried out in the Gazebo simulation environment. The developed system consists of the modeling of the mechanics of the robot, including the dynamic equations that allow controlling the joints by computed-torque control. Locomotion is planned by agents...
COACH (COrrective Advice Communicated by Humans) is an interactive learning framework that allows non-expert humans to shape a policy through corrective advice, using a binary signal in the action domain of the agent. The original COACH formulation has been tested in problems of one-dimensional actions spaces with RBF linear models for the policy approximation. In this paper the COACH framework is...
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