EFGCL adds external assistive forces during RL training to let legged robots physically experience successful dynamic motions early, accelerating learning of jumps and flips by about 2x and enabling behaviors conventional methods cannot acquire.
High-dimensional continuous control using generalized advantage estimation
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EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning
EFGCL adds external assistive forces during RL training to let legged robots physically experience successful dynamic motions early, accelerating learning of jumps and flips by about 2x and enabling behaviors conventional methods cannot acquire.