Abstract: This paper presents a simulation-based benchmarking analysis of three reinforcement learning (RL) algorithms—Soft Actor-Critic (SAC), Deep Q-Network (DQN), and Proximal Policy Optimization ...
Abstract: Variable stiffness actuators (VSAs) are an important class of compliant actuators that can benefit the robustness and task adaptability of robotic systems. However, controlling VSAs is still ...
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