Learning Task Space Actions for Bipedal Locomotion
Helei Duan Jeremy Dao Kevin Green Taylor Apgar Alan Fern Jonathan Hurst Helei Duan Jeremy Dao Kevin Green Taylor Apgar Alan Fern Jonathan Hurst
Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots. This prior work, however, has focused on learning joint-coordination controllers based on an objective of following joint trajectories produced by already available controllers. As such, it is difficult to train these approaches to achieve higher-level goals of legged l...