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MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
Reinforcement learning (RL) for locomotion frequently converges to locally optimal but undeployable behaviors, such as vibrating limbs or scooting on the torso, that maximize return without producing a usable gait. We present MPC-Injection, a low-overhead method that steers RL toward a designer-pref
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