NettetHere, we present a robust controller for blind quadrupedal locomotion in challenging natural environments. Our approach incorporates proprioceptive feedback in … Nettet[7]. Reinforcement Learning (RL) has brought significant improvements in legged locomotion [6], [16], [37], where the policies are trained with proprioceptive state inputs. Specif-ically, we have witnessed impressive control performance in the wild using RL incorporating robustness and adaptive ability [22], [24], [47].
Learning to Walk by Steering: Perceptive Quadrupedal …
NettetHere, we present a robust controller for blind quadrupedal locomotion in challenging natural environments. Our approach incorporates proprioceptive feedback in locomotion control and demonstrates zero-shot generalization from simulation to natural environments. The controller is trained by reinforcement learning in simulation. Nettet20. jan. 2024 · Learning robust perceptive locomotion for quadrupedal robots in the wild www.youtube.com. Those clips of ANYmal walking through dense vegetation and deep snow do a great job of illustrating how well the system functions. gina din foundation
Learning quadrupedal locomotion over challenging terrain
Nettet18. mai 2024 · This paper shows that sim-to-real reinforcement learning (RL) can achieve robust locomotion over stair-like terrain on the bipedal robot Cassie using only proprioceptive feedback, and only requires modifying an existing flat-terrain training RL framework to include stair- like terrain randomization, without any changes in reward … Nettet14. des. 2024 · Learning robust perceptive locomotion for quadrupedal robots in the wild. Article. Jan 2024; Takahiro Miki; Joonho Lee; Jemin Hwangbo; Marco Hutter; Legged robots that can operate autonomously in ... Nettet20. jan. 2024 · Learning robust perceptive locomotion for quadrupedal robots in the wild 01/20/2024 ∙ by Takahiro Miki, et al. ∙ 0 ∙ share Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. gincleey bike seat