Adaptive Barrier Smoothing for First-Order Policy Gradient with Contact Dynamics

Shenao Zhang, Wanxin Jin, Zhaoran Wang
2/12/2026

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Cite this paper

@article{zhang2026adaptive,
  title  = {Adaptive Barrier Smoothing for First-Order Policy Gradient with Contact Dynamics},
  author = {Shenao Zhang and Wanxin Jin and Zhaoran Wang},
  year   = {2026},
  url    = {https://api.semanticscholar.org/CorpusID:25e197a2ce7bf803a8bca007ac42f4c5c1862a2b},
  journal = {ICML 2023 2023}
}

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