Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots

arXiv:2604.19104v1 Announce Type: cross Abstract: Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between different states such as up-right walking and fall recovery. To address these problems,this paper proposes a modular reinforcement learning (RL)framework for achieving adaptive multi-task control. Firstly,this framework combines an open-loop feedforward osci