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ROBOMECH Journal
Fig. 1 | ROBOMECH Journal

Fig. 1

From: Optimization algorithm for feedback and feedforward policies towards robot control robust to sensing failures

Fig. 1

Proposed RL framework: it contains both the FB/FF policies in parallel; policies outputted from them are composed to sample action; according to reward, both the FB/FF policies are optimized in a unified manner; with the appropriate combination of the FB/FF policies, this framework is expected to achieve both robustness to sensing failures and adaptiveness to changes of state

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