Agile and Versatile Robot Locomotion via Kernel-based Residual Learning
Milo Carroll,Zhaocheng Liu,Mohammadreza Kasaei,Zhibin Li,Milo Carroll,Zhaocheng Liu,Mohammadreza Kasaei,Zhibin Li
This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Ini-tially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual controller network is trained using reinforcement learning to acquire generalized locomotion skills and robust-ness against external perturbations. The proposed fra...
