Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion

Recently reinforcement learning (RL) has emerged as a promising approach for quadrupedal locomotion, which can save the manual effort in conventional approaches such as designing skill-specific controllers. However, due to the complex nonlinear dynamics in quadrupedal robots and reward sparsity, it...

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Veröffentlicht in:	arXiv.org 2021-09
Hauptverfasser:	Shi, Haojie, Zhou, Bo, Zeng, Hongsheng, Wang, Fan, Dong, Yueqiang, Li, Jiangyong, Wang, Kang, Tian, Hao, Meng, Max Q -H
Format:	Artikel
Sprache:	eng
Schlagworte:	Learning Locomotion Nonlinear dynamics Robots Trajectories Walking
Online-Zugang:	Volltext
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