CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning

Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard. CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024. pages 13303-13310, IEEE, 2024. [doi]

Abstract

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