Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior

no code implementations • 6 Dec 2022 • Gabriel B Margolis, Pulkit Agrawal

Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment.

Rapid Locomotion via Reinforcement Learning

no code implementations • 5 May 2022 • Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, Pulkit Agrawal

Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots.

reinforcement-learning Reinforcement Learning (RL)