Optimal Control (CMU 16-745) 2025 Lecture 20: How to Walk
Автор: CMU Robotic Exploration Lab
Загружено: 2025-04-02
Просмотров: 1361
Описание:
Lecture 20 for Optimal Control and Reinforcement Learning 2025. Guest lecture by John Zhang (https://johnzhang3.github.io/)
Topics:
History of legged robots
Convex MPC (the Cheetah controller)
Whole-body nonlinear MPC
Reinforcement learning for legged robots
Model-predictive path-integral control for loco-manipulation
Lecture Notes:
https://github.com/Optimal-Control-16...
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