VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation

no code implementations • 2 May 2022 • Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains.

Disentanglement

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

no code implementations • 9 Dec 2021 • Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

This encourages disentanglement such that application of a drive signal to a single dimension of the latent state induces holistic plans synthesising a continuous variety of trot styles.

Disentanglement

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion

no code implementations • 3 Jul 2020 • Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner

In addition, kinodynamic constraints are often non-differentiable and difficult to implement in an optimisation approach.