Multi-embodiment Legged Robot Control as a Sequence Modeling Problem
Chen Yu,Weinan Zhang,Hang Lai,Zheng Tian,Laurent Kneip,Jun Wang,Chen Yu,Weinan Zhang,Hang Lai,Zheng Tian,Laurent Kneip,Jun Wang
Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the complex interplay between the controller and morphology. In this paper, we propose a learning-based control method that can inherently take morphology into consi...
