C2: Co-design of Robots via Concurrent-Network Coupling Online and Offline Reinforcement Learning
Ci Chen,Pingyu Xiang,Haojian Lu,Yue Wang,Rong Xiong,Ci Chen,Pingyu Xiang,Haojian Lu,Yue Wang,Rong Xiong
With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven methods require training the controller for each morphology to calculate fitness, which is time-consuming. In contrast, the dual-network framework utilizes data collected by individual networks under a specific morphology ...
