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

• Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA) pp. 1420 - 1427
• Main Authors: Bellegarda, Guillaume, Shafiee, Milad, Ijspeert, Auke
• Format: Conference Proceeding
• Language: English
• Published: IEEE 13.05.2024
• Subjects: Couplings; Delays; Navigation; Robot kinematics; Robot sensing systems; Robustness; Sensors

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 a...