[R] DTC: Deep Tracking Control

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[ANYmal walking on stepping stones](https://preview.redd.it/pz9b4qx6sfec1.png?width=3178&format=png&auto=webp&s=6fb4176ff5e9c3d8f762c9dfb890af740b7201fb)

Hello. We are the Robotic Systems Lab (RSL) and we research novel strategies for controlling legged robots. In our most recent work, we have combined trajectory optimization with reinforcement learning to synthesize accurate and robust locomotion behaviors.

ArXiv: [https://arxiv.org/abs/2309.15462](https://arxiv.org/abs/2309.15462)

The method is further described in this [video](https://www.youtube.com/watch?v=nipH-yl8lR0&t=82s).

We have demonstrated a potential application for real-world search-and-rescue scenarios in this [video](https://www.youtube.com/watch?v=_R29DrAx0Xs&t=85s).

control dtc hello lab legged robots machinelearning novel optimization reinforcement reinforcement learning research robotic robots robust strategies systems tracking trajectory work