Concept
Ankle Joint Limit Avoidance
A control strategy that prevents the ankle joint from reaching the boundaries of its range of motion. By introducing a penalty term into the reward function, it guides the policy toward learning more natural and sustainable recovery motions.
Timeline (last 90 days)
Oct 17
After incorporating flat sole contact and ankle limit avoidance into the reward, the policy is more inclined to complete recovery using reasonable support methods.
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