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Reward for walking symmetry? #26

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henri123lemoine opened this issue Nov 12, 2024 · 0 comments
Open

Reward for walking symmetry? #26

henri123lemoine opened this issue Nov 12, 2024 · 0 comments

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@henri123lemoine
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  • Greater penalty for asymmetrical gait cycle time.
  • Rewarding matching relative position buffer for right step vs left step. As in, compute some sort of axe of symmetry based on the torso pos/angle and ensure that movements match on both sides.
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