Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study

Dongyun Kang; Gijeong Kim; JongHun Choe; Hajun Kim; Hae Won Park; Hae-Won Park

2025 CoRL CoRL 2025

Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study

Abstract

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🌉 Interdisciplinary Bridge - Reinforcement Learning and Robotics

Authors

Dongyun Kang, Gijeong Kim, JongHun Choe, Hajun Kim, Hae Won Park, Hae-Won Park

Topics

Reinforcement Learning > Applications > Robotics Robotics > Systems > Legged Robots Robotics > Capabilities > Motion Planning

Keywords

centroidal angular velocity front flip motor operating regions one-leg hopper sim-to-real techniques transmission load regularization

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