Entries tagged :: Unitree/H1-2.
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Humanoid Demo: Game2D-to-Sim3D Cross Domain Skill Adaptation From CPG Expert Demonstrations
Read more ⟶Introduction
In previous blog posts, we have shown successful applications of CPG-based RL for robot locomotion in both 2D (game) and 3D (world) physical simulation environments. While this approach offers the flexibility to adjust parameters for walking gait on-the-fly, it necessitates heavy reward tuning and prolonged training time. On the other hand, imitation learning from human demonstrations has shown more rapid convergence for natural gait cloning. Here we will try to combine these two techniques and explore the feasibility of using a 2D CPG expert to guide a 3D humanoid robot in learning to walk.
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