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How to Train Upper Body at Home✅

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Mobile-TeleVision follows our previous idea on upper-body and lower-body separation for control: 1⃣We train RL for lower-body locomotion and standing; 2⃣We use IK and retargeting directly for upper-body for high-precision and smooth manipulation. We avoid using RL for upper-body motion tracking. This is because fundamentally it is hard to avoid errors with RL tracking, and sim2real gap brings another gap. At this point, we still find using IK is more practical and precise.
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