Exploring Learning Deployable Locomotion Control Via Differentiable Simulation
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- This work presents a comprehensive study on
- We present a radically robust
- We present APT-RL (Action Pretrained Transformer-based Reinforcement
- Website: https://agile-but-safe.github.io/ Paper: https://arxiv.org/abs/2401.17583 Authors: Tairan He*, Chong Zhang*, Wenli Xiao, ...
- Work from Tairan He and Chong Zhang in conjunction with Wenli Xiao and Guanqi He from ETH Zurich. Read the full article on ...
In-Depth Information on Learning Deployable Locomotion Control Via Differentiable Simulation
Differentiable simulators This work explores the potential of Navigating discrete terrain such as stepping stones remains a major challenge for legged robots. Conventional approaches often ... Paper accepted to ICRA 2025. Pre-print available here: https://arxiv.org/abs/2410.03076 First-order Policy Gradient (FoPG) ...
Supplementary video for the IEEE RA-L paper "RL + Model-based
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