Our learned gait policy discovers several gaits automatically as it accelerates to 2.5m/s.
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.Distinctive gaits discovered by our hierarchical framework
Walking
Walking
0-0.9m/s
Trotting
Trotting
0.9-1.8m/s
Fly-Trotting
Fly-Trotting
1.8-2.5m/s
Generalization to sharp acceleration and deceleration
Generalization to sharp acceleration and deceleration
Videos are played in 8x slow motion.
Generalization to perturbation
Generalization to perturbation
Vertical Step (8cm)
Vertical Step (8cm)
Horizontal Push
Horizontal Push
Generalization to different terrain
Generalization to different terrain
Grass
Grass
Rocky Terrain
Rocky Terrain
Brush
Brush