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

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/mqi42c87b4t5f4u9blp6qysmx
- Original: https://arxiv.org/abs/2610.41348

## Summary

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.