Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion
Guillaume Bellegarda,Milad Shafiee,Auke Ijspeert,Guillaume Bellegarda,Milad Shafiee,Auke Ijspeert
We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework. Through both exteroceptive and proprioceptive sensing, the agent learns to coordinate rhythmic behavior among different oscillators to track velocity commands, ...
