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simmediumlocomotionmetric · varies
Phase-Aware Policy Learning for Skateboard Riding of Quadruped Robots via Feature-wise Linear Modulation
Description
Skateboards offer a compact and efficient means of transportation as a type of personal mobility device. However, controlling them with legged robots poses several challenges for policy learning due to perception-driven interactions and multi-modal control objectives across distinct skateboarding phases. To address these challenges, we introduce Phase-Aware Policy Learning (PAPL), a reinforcement-learning framework tailored for skateboarding with quadruped robots. PAPL leverages the cyclic natur