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cs.RO2022
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion
Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert
We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscilla…
cs.RO2022★ 3 cited
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
Guillaume Bellegarda, Auke Ijspeert
In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to…