Framework using parameterized Signal Temporal Logic specifications to shape rewards for PPO-based RL, yielding tighter velocity tracking and more stable training than hand-crafted rewards on Barkour quadruped in MuJoCo simulation.
Title resolution pending
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
Framework using parameterized Signal Temporal Logic specifications to shape rewards for PPO-based RL, yielding tighter velocity tracking and more stable training than hand-crafted rewards on Barkour quadruped in MuJoCo simulation.