Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer
Hang Lai,Weinan Zhang,Xialin He,Chen Yu,Zheng Tian,Yong Yu,Jun Wang,Hang Lai,Weinan Zhang,Xialin He,Chen Yu,Zheng Tian,Yong Yu,Jun Wang
Deep reinforcement learning has recently emerged as an appealing alternative for legged locomotion over multiple terrains by training a policy in physical simulation and then transferring it to the real world (i.e., sim-to-real transfer). Despite considerable progress, the capacity and scalability of traditional neural networks are still limited, which may hinder their applications in more complex...
