Morphology-Agnostic Reinforcement Learning with BERT
M.Sc. research report, Université de Montréal — REAL Lab, Mila (advisor: Prof. Glen Berseth), 2025
A transformer-based actor-critic architecture with a novel tokenization scheme that trains a single reinforcement-learning policy across multiple robot morphologies, conditioned on BERT-encoded URDF descriptions to generalize to embodiments unseen during training.
