OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors
Yuni Fuchioka,Zhaoming Xie,Michiel Van de Panne,Yuni Fuchioka,Zhaoming Xie,Michiel Van de Panne
Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous reward design. While much work uses motion capture data or hand-crafted trajectories as the reference motion, relatively little work has explored the use of ref...
