Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation

• URL: http://arxiv.org/abs/2306.08224v1
• Date: Wed, 14 Jun 2023 03:30:04 GMT
• Title: Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation
• Authors: Guilherme Christmann, Ying-Sheng Luo, Jonathan Hans Soeseno, Wei-Chao Chen
• Abstract summary: We propose a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. Our approach is effective in the real-world and achieves a 19% higher average success rate for the most challenging transition pairs in our experiments.
• Score: 3.8271803328378677
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start by distributing the complexity of different gaits into dedicated locomotion policies applicable to real-world robots. Next, we expand the versatility of the robot by unifying the policies with robust transitions into a single coherent meta-controller by examining the latent state representations. Our approach enables the robot to iteratively expand its skill repertoire and robustly transition between any policy pair in a library. In our framework, adding new skills does not introduce any process that alters the previously learned skills. Moreover, training of a locomotion policy takes less than an hour with a single consumer GPU. Our approach is effective in the real-world and achieves a 19% higher average success rate for the most challenging transition pairs in our experiments compared to existing approaches.

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