Redesigned regularization addresses implementation gaps in policy smoothing for RL, yielding smoother motions with improved performance and robustness on a quadruped robot in sim-to-real settings.
Pseudo-quantized actor-critic algorithm for robustness to noisy temporal difference error,
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Redesigning Regularization for Effective Policy Smoothing
Redesigned regularization addresses implementation gaps in policy smoothing for RL, yielding smoother motions with improved performance and robustness on a quadruped robot in sim-to-real settings.