2024
DecAP : Decaying Action Priors for Accelerated Imitation Learning of Torque-Based Legged Locomotion Policies
IROS 2024poster
Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter’s compliant and robust nature. In parallel to this shift, the community has also turned to Deep Reinforcement Learning (DRL) as a promising approach to directly learn…