Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2022）
关键词
ANYmal robot,centroidal dynamics planner,challenging terrains,coordinated terrain-adaptive locomotion,learned controllers transfer,locomotion controllers,procedurally,robust tracking controller,simple fashion,simple imitation learning procedure,trajectory optimization,unseen terrains
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