Papers
Topics
Authors
Recent
Assistant
AI Research Assistant
Well-researched responses based on relevant abstracts and paper content.
Custom Instructions Pro
Preferences or requirements that you'd like Emergent Mind to consider when generating responses.
Gemini 2.5 Flash
Gemini 2.5 Flash 147 tok/s
Gemini 2.5 Pro 42 tok/s Pro
GPT-5 Medium 33 tok/s Pro
GPT-5 High 28 tok/s Pro
GPT-4o 81 tok/s Pro
Kimi K2 190 tok/s Pro
GPT OSS 120B 449 tok/s Pro
Claude Sonnet 4.5 36 tok/s Pro
2000 character limit reached

Quadruped Locomotion on Non-Rigid Terrain using Reinforcement Learning (2107.02955v1)

Published 7 Jul 2021 in cs.RO and cs.AI

Abstract: Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate quadruped locomotion on flat elastic terrain that consists of a matrix of tiles moving up and down passively when pushed by the robot's feet. A trained robot with 55cm base length can walk on terrain that can sink up to 5cm. We propose a set of observation and reward terms that enable this locomotion; in which we found that it is crucial to include the end-effector history and end-effector velocity terms into observation. We show the effectiveness of our method by training the robot with various terrain conditions.

Citations (3)

Summary

We haven't generated a summary for this paper yet.

Lightbulb Streamline Icon: https://streamlinehq.com

Continue Learning

We haven't generated follow-up questions for this paper yet.

Authors (2)

List To Do Tasks Checklist Streamline Icon: https://streamlinehq.com

Collections

Sign up for free to add this paper to one or more collections.

Youtube Logo Streamline Icon: https://streamlinehq.com

Don't miss out on important new AI/ML research

See which papers are being discussed right now on X, Reddit, and more:

“Emergent Mind helps me see which AI papers have caught fire online.”

Philip

Philip

Creator, AI Explained on YouTube