2 papers
cs.RO2025
Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations
Maximilian Stasica, Arne Bick, Nico Bohlinger +5
Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, rema…
cs.RO2024
Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion
Henri-Jacques Geiß, Firas Al-Hafez, Andre Seyfarth +2
Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods atte…