An equilibrium-propagation-based PPO controller for a 12-DoF quadruped achieves locomotion performance comparable to backpropagation-trained PPO on uneven terrain while using 4.3 times less GPU memory.
Adaptive locomotion control of a hexapod robot via bio-inspired learning
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Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
An equilibrium-propagation-based PPO controller for a 12-DoF quadruped achieves locomotion performance comparable to backpropagation-trained PPO on uneven terrain while using 4.3 times less GPU memory.