Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation
Guilherme Christmann,Ying-Sheng Luo,Jonathan Hans Soeseno,Wei-Chao Chen,Guilherme Christmann,Ying-Sheng Luo,Jonathan Hans Soeseno,Wei-Chao Chen
This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start by distributing the complexity of different gaits into dedicated locomotion policies applicable to real-world robots. Next, we expand the versatility of the robot by unifying the policies with robust transitions into a single coheren...
