A three-layer interpretable controller combined with gradient-weighted online learning learns hexapod walking from scratch in about 10 minutes on hardware and in roughly 5 minutes in simulation.
Adaptive bipedal robot walking on industrial pipes under neural multimodal locomotion control: Toward robotic out-pipe inspection
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An Interpretable Neural Control Network with Adaptable Online Learning for Sample Efficient Robot Locomotion Learning
A three-layer interpretable controller combined with gradient-weighted online learning learns hexapod walking from scratch in about 10 minutes on hardware and in roughly 5 minutes in simulation.