Safe Reinforcement Learning for Legged Locomotion
Tsung-Yen Yang,Tingnan Zhang,Linda Luu,Sehoon Ha,Jie Tan,Wenhao Yu,Tsung-Yen Yang,Tingnan Zhang,Linda Luu,Sehoon Ha,Jie Tan,Wenhao Yu
Designing control policies for legged locomotion11In this work, we specifically consider quadruped locomotion. is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of applying model-free reinforcement learning in real world is safety. In this paper, we propose a safe ...
