Imitation Learning from MPC for Quadrupedal Multi-Gait Control
Alexander Reske Jan Carius Yuntao Ma Farbod Farshidian Marco Hutter Alexander Reske Jan Carius Yuntao Ma Farbod Farshidian Marco Hutter
We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot. To achieve this, we use and extend MPC-Net, which is an Imitation Learning approach guided by Model Predictive Control (MPC). The strategy of MPC-Net differs from many other approaches since its objective is to minimize the control Hamiltonian, which derives from the principle of optimalit...