Author

Nikos G. Tsagarakis

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Preprint Aug 2026

Learning Fault-Tolerant Locomotion with Adaptive Gait Timing

A deep reinforcement learning approach for fault-tolerant locomotion under actuator power loss that employs an asymmetric actor-critic architecture in which the critic has access to privileged information during training, while the actor learns to reconstruct a corresponding latent representation from proprioceptive ob...

Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo et al. · 1 citation

Preprint Aug 2026

Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

A unified framework that combines centralized training with decentralized execution (CTDE) and a Hybrid Reward Architecture (HRA) is introduced that enables multiple actors to share a centralized multi-head critic and substantially improves both sample efficiency and policy performance.

Changhao Li, Yifang Zhang, Heng Zhang et al. · 0 citations