A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning
Wenhao Tan,Xing Fang,Wei Zhang,Ran Song,Teng Chen,Yu Zheng,Yibin Li,Wenhao Tan,Xing Fang,Wei Zhang,Ran Song,Teng Chen,Yu Zheng,Yibin Li
Quadruped locomotion is a challenging task for learning-based algorithms. It requires tedious manual tuning and is difficult to deploy in reality due to the reality gap. In this paper, we propose a quadruped robot learning system for agile locomotion which does not require any pre-training and works well in various real-world terrains. We introduce a hierarchical learning framework that uses reinf...
