Exploiting Hierarchical Controller Structure in Contextual Parameter Learning for Humanoid Loco-Manipulation
This work proposes a contextual Bayesian optimization framework for joint parameter learning in hierarchical control systems, and evaluates the approach for humanoid loco-manipulation, jointly tuning a centroidal predictive controller and a whole-body controller for physical box pushing under varying box mass.
Sebastian Hirt, Lukas Theiner, Jan Peters et al.
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