Wenhao Tan — accepted AI-conference papers

2024

MCLER: Multi-Critic Continual Learning With Experience Replay for Quadruped Gait Generation

Maoqi Liu, Yanyun Chen, Ran Song, Longyue Qian, Xing Fang, Wenhao Tan +2

RA-L 2024

Quadruped robots are able to traverse most terrains on the earth using a wide variety of gaits, providing solutions for robots to operate in specialized environments. Although existing methods have achieved excellent performance in gait generation, they suffer from catastrophic forgetting and inabil

Cited by 4 Source ↗Scholar ↗

2021

A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning

Wenhao Tan, Xing Fang, Wei Zhang, Ran Song, Teng Chen, Yu Zheng +1

IROS 2021poster

Quadruped locomotion is a challenging task for learning-based algorithms. It requires tedious manual tuning and is difficult to deploy in reality due to the reality gap. In this paper, we propose a quadruped robot learning system for agile locomotion which does not require any pre-training and works…

Cited by 23 Source ↗code ↗Scholar ↗