3 papers
cs.RO2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
Zhiyuan Xiao, Xinyu Zhang, Xiang Zhou +1
Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, lo…
cs.RO2024
ZSL-RPPO: Zero-Shot Learning for Quadrupedal Locomotion in Challenging Terrains using Recurrent Proximal Policy Optimization
Yao Zhao, Tao Wu, Yijie Zhu +5
We present ZSL-RPPO, an improved zero-shot learning architecture that overcomes the limitations of teacher-student neural networks and enables generating robust, reliable, and vers…
cs.RO2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
Xinyu Zhang, Zhiyuan Xiao, Qingrui Zhang +1
The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration o…