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.
Torque-based deep reinforcement learning for task-and-robot agnostic learning on bipedal robots using sim-to-real transfer,
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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.