Charles Wu

Teaching to Individual Needs: Bidirectional Teacher-Student Learning for Wheeled-Legged Locomotion

Reinforcement Learning (RL) enables robust and adaptive locomotion in legged and wheeled-legged robots. A common approach is the Teacher-Student (TS) paradigm, in which a teacher policy with privileged information supervises a proprioceptive student. While the TS paradigm has proven effective on leg…