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DUET: Humanoids learn new manipulation skills without retraining the balance controller

DUET proposes separating a humanoid robot's manipulation policy from its balance controller and combining the two commands only at the robot interface, so learning new manipulation skills no longer requires retraining the gait controller. The authors say this removes the hidden cost of retraining the balance controller every time the manipulation policy changes; the paper, code, and a full summary are in the first comment.

Part of the event: DUET proposes decoupled humanoid robot balance and manipulation controllers

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