Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion

Zhaoming Xie
Zhaoming Xie
Xingye Da
Xingye Da
Buck Babich
Buck Babich
Cited by: 0|Views12

Abstract:

Understanding the gap between simulation andreality is critical for reinforcement learning with legged robots,which are largely trained in simulation. However, recent workhas resulted in sometimes conflicting conclusions with regardto which factors are important for success, including therole of dynamics randomization. In this paper, we...More

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