A Comparison of Action Spaces for Learning Manipulation Tasks. - Patrick Varin; Lev Grossman; Scott Kuindersma (IROS, 2019)

Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion. - Lev Grossman; Brian Plancher (ICRA, 2023)

Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning. - Lev Grossman; Brian Plancher (ICRA, 2024)