Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion

Xingye Da
Xingye Da
Zhaoming Xie
Zhaoming Xie
David Hoeller
David Hoeller
Byron Boots
Byron Boots
Buck Babich
Buck Babich
Cited by: 0|Bibtex|Views24
Other Links: arxiv.org

Abstract:

We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The system consists of a high-level controller that learns to choose from a set of primitives in response to changes in the environment and a low-level controller t...More

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