End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
Raghav Soni,Daniel Harnack,Hannah Isermann,Sotaro Fushimi,Shivesh Kumar,Frank Kirchner,Raghav Soni,Daniel Harnack,Hannah Isermann,Sotaro Fushimi,Shivesh Kumar,Frank Kirchner
Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has recently yielded great advances, both in the optimal control and reinforcement learning (RL) literature. Hopping is a challenging dynamic task involving a flight phase and has the potential to increase the traversability...
