Article

Joint-Health-Aware Reinforcement Learning Framework for Robust Control Under Actuator Degradation

The study proposes a joint-health-aware reinforcement learning framework that encodes actuator condition in a continuous joint-health vector and uses HealthNet to estimate each joint's health from recent observations and actions, allowing the policy to redistribute control effort across healthy and degraded joints.

Part of the event: Research proposes joint health-aware reinforcement learning framework

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