Policy Modulated Trajectory Generation for Quadrupeds

How do you ensure that a reinforcement learning (RL)-based locomotion policy produces a natural and efficient gait? This project is particularly close to my heart because it helped me answer this q...

The following post goes over and outlines a few methods for training a blind locomotion policy for a quadruped robot, most of the work shown here has been done during my time at the CNRS-AIST JRL...

This project goes over the integration of elevation maps (typically obtained from LIDARs/Depth Cameras) into the locomotion pipeline and the intricacies involved in this process. We will try to r...