3 code implementations • 29 Sep 2022 • Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency.
no code implementations • 26 Sep 2022 • Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
This allows us to obtain locomotion policies that are robust to variations in system dynamics.
no code implementations • 25 Feb 2021 • Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
Our results on a locomotion task using a single-leg hopper demonstrate that explicitly using the CPG as the Actor rather than as part of the environment results in a significant increase in the reward gained over time (6x more) compared with previous approaches.