Learning Terrain-Adaptive Locomotion with Agile Behaviors by Imitating Animals
Tingguang Li,Yizheng Zhang,Chong Zhang,Qingxu Zhu,Jiapeng Sheng,Wanchao Chi,Cheng Zhou,Lei Han,Tingguang Li,Yizheng Zhang,Chong Zhang,Qingxu Zhu,Jiapeng Sheng,Wanchao Chi,Cheng Zhou,Lei Han
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn from motions of real animals, and a terrain adaptation step to enable generalization to unseen terrains. We capture motions from a Labrador on various terrains to...
