Doyoon Ju

MuJoCo-Based Sim-to-Real Reinforcement Learning for Transition Control of a Triple Inverted Pendulum

This study presents an experimentally validated MuJoCo-based sim-to-real reinforcement learning framework for transition control among all eight equilibrium points (EPs) of a physical triple inverted pendulum (TIP). A multibody model is constructed from the apparatus properties, and uncertain actuation, damping, and fr...