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simmediumpolicy-learningmetric · varies
TransCurriculum: Multi-Dimensional Curriculum Learning for Fast & Stable Locomotion
Description
High-speed legged locomotion struggles with stability and transfer losses at higher command velocities during deployment. One reason is that most curricula vary difficulty along single axis, for example increase the range of command velocities, terrain difficulty, or domain parameters (e.g. friction or payload mass) using either fixed update rule or instantaneous rewards while ignoring how the history of robot training has evolved. We propose TransCurriculum, a transformer-based multi-dimensiona