Concurrent training of an Intrinsic Dynamics Head with a dynamics reward yields more efficient and smoother quadrupedal locomotion policies that transfer to real robots with 12-18% gains in efficiency metrics.
Exploration by random network distillation,
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Dynamics Aware Quadrupedal Locomotion via Intrinsic Dynamics Head
Concurrent training of an Intrinsic Dynamics Head with a dynamics reward yields more efficient and smoother quadrupedal locomotion policies that transfer to real robots with 12-18% gains in efficiency metrics.