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Found 3 papers, 1 papers with code
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot.
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago).
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation.
Robotics Optimization and Control
