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About this paper
Zongtan Li, Tianming Liu, Ye Zhao
The authors propose within-limit re-timing for robot imitation, merging commands only when their summed displacement remains within the controller’s realizable set. It avoids over-limit commands when original commands are realizable. In simulation, Square success was 76% versus 62% for the nominal policy, while successful episodes averaged 115 rather than 168 steps. The displacement test does not cover every constraint.
Summary by alphaXiv.
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