EP-based PPO with CPG and residual policies matches standard PPO performance on 12-DoF quadruped uneven-terrain locomotion while using 4.3 times less GPU memory during training.
Improving equilibrium propagation without weight symmetry through jacobian homeostasis
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
method 1
citation-polarity summary
fields
cs.NE 1years
2026 1verdicts
UNVERDICTED 1roles
method 1polarities
use method 1representative citing papers
citing papers explorer
-
Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
EP-based PPO with CPG and residual policies matches standard PPO performance on 12-DoF quadruped uneven-terrain locomotion while using 4.3 times less GPU memory during training.