Fast and Efficient Locomotion via Learned Gait Transitions

Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, Byron Boots

CoRL 2021

(paper)(code)

Our learned gait policy discovers several gaits automatically as it accelerates to 2.5m/s.

Distinctive gaits discovered by our hierarchical framework

Videos are played in 8x slow motion.

Walking

0-0.9m/s

Trotting

0.9-1.8m/s

Fly-Trotting

1.8-2.5m/s

Generalization to sharp acceleration and deceleration

Videos are played in 8x slow motion.

Generalization to perturbation

Vertical Step (8cm)

Horizontal Push

Generalization to different terrain

Grass

Rocky Terrain

Brush