Empirical comparison of blind, critic-perceptive, and fully perceptive variants of morphology-aware RL locomotion controllers shows critic-only perception improves robustness over blind baselines while remaining more stable under perception noise than full perception.
Anymal parkour: Learning agile navigation for quadrupedal robots
2 Pith papers cite this work. Polarity classification is still indexing.
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Adding an actuated sagittal spine to a simulated quadruped increases agility and allows it to clear higher obstacles, steeper slopes, and tighter passages than the rigid-spine baseline.
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Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
Empirical comparison of blind, critic-perceptive, and fully perceptive variants of morphology-aware RL locomotion controllers shows critic-only perception improves robustness over blind baselines while remaining more stable under perception noise than full perception.
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Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Adding an actuated sagittal spine to a simulated quadruped increases agility and allows it to clear higher obstacles, steeper slopes, and tighter passages than the rigid-spine baseline.