Learning Agile Locomotion Skills with a Mentor
Atil Iscen George Yu Alejandro Escontrela Deepali Jain Jie Tan Ken Caluwaerts Atil Iscen George Yu Alejandro Escontrela Deepali Jain Jie Tan Ken Caluwaerts
Developing agile behaviors for legged robots re-mains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design. We formulate agile locomotion as a multi-stage learning problem in which a mentor guides the agent throughout the training. The mentor is optimized to place a c...