Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control

Understand

We propose MIMOC: Motion Imitation from Model-Based Optimal Control.

• MIMOC is a Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference trajectories from model-based optimal control.
• MIMOC mitigates challenges faced by other motion imitation RL approaches because the references are dynamically consistent, require no motion retargeting, and include torque references.
• Hence, MIMOC does not require fine-tuning.