Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
Joanne Truong,Denis Yarats,Tianyu Li,Franziska Meier,Sonia Chernova,Dhruv Batra,Akshara Rai,Joanne Truong,Denis Yarats,Tianyu Li,Franziska Meier,Sonia Chernova,Dhruv Batra,Akshara Rai
Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their complex dynamics, and the large dynamical difference between cylinder agents and legged systems. In this work, we learn hierarchical navigation policies that accoun...
