Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, Pulkit Agrawal
TL;DR本篇论文提出一种端到端学习到的控制器，可为MIT Mini Cheetah机器猎豹在天然地形上实现最高时速3.9m/s的行动敏捷性，并且具有鲁棒性和抗干扰性。
Abstract
Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots. We present an end-to-end learned controller that achieves record agility for the →