RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Fatemeh Zargarbashi; Jin Cheng; Dongho Kang; Robert Sumner; Stelian Coros

2024 CoRL CoRL 2024

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Abstract

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🌉 Interdisciplinary Bridge - Reinforcement Learning and Robotics

Authors

Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros

Topics

Reinforcement Learning > Methods > Deep RL Reinforcement Learning > Applications > Robotics Robotics > Systems > Legged Robots

Keywords

sparse reward dense reward transformer-based encoder multi-critic keyframing time-to-arrivals

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