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May, 2023
使用四足机器人评估动物级敏捷性能的基准测试
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
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Ken Caluwaerts, Atil Iscen, J. Chase Kew, Wenhao Yu, Tingnan Zhang...
TL;DR
我们引入了Barkour基准测试,用于衡量机器人的敏捷性,并通过基于策略的强化学习方法和Transformer模型训练,演示了这个基准测试的应用,希望能够为实现动物级别的敏捷性控制器迈出实质性一步。
Abstract
Animals have evolved various
agile locomotion
strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing
legged robots
that move like their biological counterparts and show var
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