Reinforcement Learning for Reduced-order Models of Legged Robots
Yu-Ming Chen,Hien Bui,Michael Posa,Yu-Ming Chen,Hien Bui,Michael Posa
Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accomplishing many locomotion tasks. Model-free reinforcement learning, on the other hand, has gained much popularity in recent years due to computational advancements. It can achieve high performance in specific tasks, but i...
