collaborators

1 paper

cs.RO2024

Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback

Jenny Zhang, Steve Heim, Se Hwan Jeon +1

We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feed…