Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(2021)
摘要
Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their complex dynamics, and the large dynamical difference between cylinder agents and legged systems. In this work, we learn hierarchical navigation policies that accoun...
更多查看译文
关键词
Legged locomotion,Training,Adaptation models,Navigation,Indoor navigation,Turning,Hardware
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络