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https://github.com/lauramsmith/fine-tuning-locomotion
https://github.com/leggedrobotics/legged_gym
/ / / / / / / / /
Ini- Scaling, Coef- and Velocity, Fric- Scaling, on Ac- External
Shifting Torque Friction Gain, Angular Ground Torque Perturbation Map, and
Modelling, Actuator Ground Derivative and Velocity, Actuator Damping), Elevation for Friction
Actuator Gravity, Base. Module [60] . Module. Module. Mass, (Link and Proportional Linear (Base and Position Disturbances). (Gravity, Actuator Filters (Ground Observations.
Randomization, Changing Robot the Adaption Adaption Adaption randomization Slope, Delay). randomization Joint Gravity, External Fine-Tuning. randomization Size, and Smoothing and Randomization. Randomization Noisy
Domain Position, tial Perturbing and RMA-based RMA-based RMA-based Domain and ficients Communication Domain Projected and tion / Real-World Domain Mass Link Base, Robot Model. tuator Domain Domain and Force),
Algo- A1 [10] .
WBC [116] . librealsense 4 . Motions. Optimization Recording [111] and for motion Controller. Strategy.
TOWR [113] , FMM [117] , / / Human / Trajectory rithm [118] . Dog MoCap Side-Step Gaits Dynamic Curriculum /
Adapta- Locomo- Reinforcement Legged Consump- of Emergence Adaptation of Control for Control Reinforcement Locomo- from on Keep Loco- Real the Legged Reinforce- Optimal Us- Minutes 4 https://github.com/IntelRealSense/librealsense
Trajectory Quadrupedal Deep Coupling Vision and Propriocep- of navigation Energy the to Robots [107] Legged Motor Robots [60] Motion Quadrupedal Robots using Deep Learning [108] Torque Locomotion [44] Robust for Demonstrations Optimization [109] that Robots Fine-Tuning in Policies Terrain-Aware using and Learning RapidLocomotionviaReinforce- Learning [36] in Walk ing Massively Parallel Deep Rein- Learning [35]
Real-Time for tion using tion Learning [53] for tion Robots [11] Minimizing Leads tion in Gaits Rapid RMA: Legged for Human Reinforcement Learning Quadrupedal Model-free Learning using tion Trajectory Legged Learning: motion World [30] RLOC: Locomotion ment Control [42] ment to Learning forcement