Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion

arXiv:2212.14400v2 Announce Type: replace-cross
Abstract: We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework. Through both exteroceptive and proprioceptive sensing, the agent learns to coordinate rhythmic behavior among different oscillators to track velocity commands, while at the same time override these commands to avoid collisions with the environment. We investigate several open robotics and neuroscience questions: 1) What is …

arxiv cpg cs.ai cs.lg cs.ro cs.sy eess.sy generators type visual