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cs.RO2025
Learning Natural and Robust Hexapod Locomotion over Complex Terrains via Motion Priors based on Deep Reinforcement Learning
Xin Liu, Jinze Wu, Yinghui Li +3
Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the mult…
cs.RO2024★ 1 cited
Experience-Learning Inspired Two-Step Reward Method for Efficient Legged Locomotion Learning Towards Natural and Robust Gaits
Yinghui Li, Jinze Wu, Xin Liu +2
Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration…
cs.RO2023★ 3 cited
Learning Multiple Gaits within Latent Space for Quadruped Robots
Jinze Wu, Yufei Xue, Chenkun Qi
Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training fra…