Robust High-Speed Running for Quadruped Robots via Deep Reinforcement Learning
Guillaume Bellegarda,Yiyu Chen,Zhuochen Liu,Quan Nguyen,Guillaume Bellegarda,Yiyu Chen,Zhuochen Liu,Quan Nguyen
Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and offset foot positions produced by trajectory generators. Both approaches typically require careful reward shaping and training for millions of time steps, and with ...
