PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion
Ren Liu,Nitish Sontakke,Sehoon Ha,Ren Liu,Nitish Sontakke,Sehoon Ha
Deep reinforcement learning (deep RL) has emerged as an effective tool for developing controllers for legged robots. However, vanilla deep RL often requires a tremendous amount of training samples and is not feasible for achieving robust behaviors. Instead, researchers have investigated a novel policy architecture by incorporating human experts' knowledge, such as Policies Modulating Trajectory Ge...
