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simmediumlocomotionmetric · varies
Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors
Description
Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of a learning framework originally designed for quadrupedal robots to operate blind locomotion in biped mode. We leverage a framework that incorporates Adversarial Motion Priors with a teacher-student policy to enable imitation of a reference trajectory and navig