Learning Agile Locomotion Skills with a Mentor
Atil Iscen,George Yu,Alejandro Escontrela,Deepali Jain,Jie Tan,Ken Caluwaerts,Atil Iscen,George Yu,Alejandro Escontrela,Deepali Jain,Jie Tan,Ken Caluwaerts
Developing agile behaviors for legged robots re-mains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design. We formulate agile locomotion as a multi-stage learning problem in which a mentor guides the agent throughout the training. The mentor is optimized to place a c...
