Chris Paxton: robust whole-body RL beats IK for impact and reactivity
chris_j_paxton · x · 2026-10-01
Robotics researcher Chris Paxton notes that while Dyna doesn't demonstrate these capabilities, the strategy is still right. His core argument: for handling varied object masses, sudden impacts, or a caught arm, robust whole-body RL is far more graceful than inverse kinematics—at least without substantial engineering effort. The thread touches on the RL-vs-model-based tradeoff in humanoid control.
Related event: Researcher: Full-Body RL Outperforms IK in Handling Collisions(2 posts)→
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