PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots

arXiv:2407.04224 · cs.RO · Submitted 2024-07-05 · Read on arXiv

cs.RO

Submitted: 2024-07-05

Updated: 2026-10-10

Comments: 8 pages, Accepted by IROS 2024

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
• Extreme Parkour with Legged Robots
• Rapid Locomotion via Reinforcement Learning
• SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
• Proximal Policy Optimization Algorithms
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

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