Data Efficient Reinforcement Learning for Legged Robots

CoRL, pp. 1-10, 2019.

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Other Links: arxiv.org|dblp.uni-trier.de

Abstract:

We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately model the robot's dynamics over a long horizon, we introduce a loss function that tracks the model's prediction over multiple timesteps. We adapt model predi...More

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