Yince Gao

U2E: Uncertainty-Aware Modeling and Uncertainty-Guided Exploration with Deep Ensemble for Quadrupedal Robot

Reinforcement learning has facilitated agile locomotion in quadrupedal robots. However, most works remain highly dependent on the accuracy of simulation models in describing real-world robot dynamics. Consequently, policy transfer from simulation to hardware is still hindered by the well-known sim-t…