Data Efficient Reinforcement Learning for Legged Robots

Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Tingnan Zhang, Jie Tan, Vikas Sindhwani

Abstract: We present a model-based reinforcement learning framework for robot locomotion that achieves walking based on only 4.5 minutes of data collected on a quadruped robot. To accurately model the robot’...