Leveraging Symmetry in RL-based Legged Locomotion Control

Zhi Su, Xiaoyu Huang, Daniel Felipe OrdoƱez Apraez, Yunfei Li, Zhongyu Li 0003, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu 0013, Koushil Sreenath. Leveraging Symmetry in RL-based Legged Locomotion Control. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024. pages 6899-6906, IEEE, 2024. [doi]

Abstract

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