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)

Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach

1 code implementation • 30 Oct 2020 • Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya

In particular, the parameters of the end-foot trajectories are shaped via a linear feedback policy that takes the torso orientation and the terrain slope as inputs.

Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations

no code implementations • 28 Jul 2020 • Sashank Tirumala, Sagar Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya

First, multiple simpler policies are trained to generate trajectories for a discrete set of target velocities and turning radius.