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 modular neural control for online gait synchronization and adaptation of an assistive lower-limb exoskeleton
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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.