An Efficient Model-Based Approach on Learning Agile Motor Skills without Reinforcement
Haojie Shi,Tingguang Li,Qingxu Zhu,Jiapeng Sheng,Lei Han,Max Q.-H. Meng,Haojie Shi,Tingguang Li,Qingxu Zhu,Jiapeng Sheng,Lei Han,Max Q.-H. Meng
Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an efficient model-based learning framework that combines a world model with a policy network. We train a differentiable world model to predict future states and use i...
