Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
Jenny Zhang,Steve Heim,Se Hwan Jeon,Sangbae Kim,Jenny Zhang,Steve Heim,Se Hwan Jeon,Sangbae Kim
We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feedback of the ground reaction force, which can be interpreted as an observer feedback gain. We interpret the oscillator itself as a latent contact state-estimator. Through a systematic ablation study, we show that the comb...
