2024
DOI: 10.1609/icaps.v34i1.31470
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Learning Quadruped Locomotion Policies Using Logical Rules

David DeFazio,
Yohei Hayamizu,
Shiqi Zhang

Abstract: Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual efforts. People can use natural language to describe dance moves. Could one use a formal language to specify quadruped gaits? To this end, we aim to enable easy gait specification and efficient policy learning. Leveraging Reward Machines (RMs) for high-level gait specificati… Show more

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