arxivcs.RO2026-06-30
FastDSAC: Enhancing Policy Plasticity via Constrained Exploration for Scalable Humanoid Locomotion
Guanchen Lu, Yajuan Dun, Yi Zhou, Letian Tao, Jingliang Duan, Jie Li, et al.
Scalable reinforcement learning has popularized high-throughput sampling architectures, which significantly compresses the training time for off-policy methods in robotic locomotion. However, the rapid increase of data volume and update frequency undermines the stability of value…