195 citations · 196 across the 3 of their papers we have counts for
3 papers
cs.RO2023
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion
Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji +1
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical…
cs.RO2023★ 1 cited
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
Yunho Kim, Hyunsik Oh, Jeonghyun Lee +5
Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free rein…
cs.RO2022★ 195 cited
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim +1
In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which ou…