Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots
Zhongyu Li Xuxin Cheng Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath Zhongyu Li Xuxin Cheng Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath
Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To address these challenges for bipedal locomotion, we present a model-free reinforcement learning framework for training robust locomotion policies in simulation, w...