Learning agility and adaptive legged locomotion via curricular ...

We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking controller that achieves powerful agility and ...

[2310.15583] Learning Agility and Adaptive Legged Locomotion via ...

We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking controller that achieves powerful agility and adaptation for ...

Learning Agility and Adaptive Legged Locomotion via Curricular ...

Thanks to recent explosive developments of data-driven learning methodologies, reinforcement learning (RL) emerges as a promising solution to address the legged ...

Liquan Wang - CatalyzeX

Figure 1 for Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning. Abstract:Agile and adaptive maneuvers such as ...

Rapid Locomotion via Reinforcement Learning

The two key components are (i) an adaptive curriculum on velocity commands and (ii) an online system identification strategy for sim-to-real transfer leveraged ...

LEARNING AGILE LEGGED LOCOMOTION WITH SIMULATED ...

To achieve substantial agility, it is necessary to provide the quadruped robots with accurate and com- plete external states (Hartley et al., 2018). However, ...

Learning and Adapting Agile Locomotion Skills by Transferring ...

Legged animals are capable of impressive displays of agility, from ... Rapidly adaptable legged robots via evolutionary meta- learning. 2020 IEEE ...

arxiv-sanity

... agility.csail.mit.edu/. similar · inspect. -70.06. Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning. Sicen Li ...

Rapid Locomotion via Reinforcement Learning · Robotics

Rapid Locomotion via Reinforcement Learning. Gabriel B Margolis ... legged robots. We present an end-to-end learned controller that achieves record agility ...

Learning Agile Motor Skills on Quadrupedal Robots using ...

adaptive curriculum outperforms naive curriculum. On top of curriculum ... Deeploco: Dynamic locomotion skills using hierarchical deep reinforce- ment learning.

[PDF] Rapid locomotion via reinforcement learning - Semantic Scholar

3 Excerpts. Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning ... agility and adaptation for the legged robot.

Rapid locomotion via reinforcement learning - Sage Journals

Alexander (1984) proposed to characterize legged agility by the ... Due to our novel adaptive curriculum strategy, we are able to learn ...

Agile But Safe: Learning Collision-Free High-Speed Legged ... - arXiv

Agile locomotion of legged robots in cluttered environments presents a non-trivial challenge due to the inherent trade-off between agility and safety, and is ...

Rapid Locomotion via Reinforcement Learning - NASA/ADS

Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots ... The two key components are (i) an adaptive curriculum ...

Multi-expert learning of adaptive legged locomotion - UCL Discovery

Using a quadruped robot as a testbed, we aim to produce adaptive robot behaviours to succeed in unexpected situations in a responsive manner. Background. Fig. 1 ...

(PDF) Learning Locomotion for Quadruped Robots via Distributional ...

Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning. December 2023. Sicen Li · Yiming Pang · Panju ...

Learning Collision-Free High-Speed Legged Locomotion - arxiv-sanity

Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning. Sicen Li, Yiming Pang, Panju Bai, Zhaojin Liu, Jiawei Li ...

Multi-expert learning of adaptive legged locomotion | Science Robotics

Then, by learning the combination of these DNNs using a gating neural network (GNN), MELA can acquire more specialized experts and transitional ...

Rapid locomotion via reinforcement learning - Sage Journals

The two key components are (i) an adaptive curriculum on velocity ... (2022) Legged Locomotion in Challenging Terrains Using Egocentric Vision.

Rapid locomotion via reinforcement learning - ACM Digital Library

The two key components are (i) an adaptive curriculum on velocity ... (2022) Legged Locomotion in Challenging Terrains Using Egocentric Vision.