{"id":588,"date":"2020-04-03T19:05:49","date_gmt":"2020-04-03T19:05:49","guid":{"rendered":"http:\/\/pybullet.org\/wordpress\/?p=588"},"modified":"2020-04-03T19:05:49","modified_gmt":"2020-04-03T19:05:49","slug":"learning-agile-robotic-locomotion-skills-by-imitating-animals","status":"publish","type":"post","link":"https:\/\/pybullet.org\/wordpress\/index.php\/2020\/04\/03\/learning-agile-robotic-locomotion-skills-by-imitating-animals\/","title":{"rendered":"Learning Agile Robotic Locomotion Skills by Imitating Animals"},"content":{"rendered":"\n<figure class=\"wp-block-embed-youtube wp-block-embed is-type-video is-provider-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Learning Agile Robotic Locomotion Skills by Imitating Animals\" width=\"474\" height=\"267\" src=\"https:\/\/www.youtube.com\/embed\/lKYh6uuCwRY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>In \u201c<a href=\"https:\/\/xbpeng.github.io\/projects\/Robotic_Imitation\/index.html\">Learning Agile Robotic Locomotion Skills by Imitating Animals<\/a>\u201d, we present a framework that takes a reference motion clip recorded from an animal (a dog, in this case) and uses RL to train a control policy that enables a robot to imitate the motion in the real world. By providing the system with different reference motions, we are able to train a quadruped robot to perform a diverse set of agile behaviors, ranging from fast walking gaits to dynamic hops and turns. The policies are trained primarily in simulation, and then transferred to the real world using a latent space adaptation technique that can efficiently adapt a policy using only a few minutes of data from the real robot. All simulations are performed using PyBullet.<\/p>\n\n\n\n<p>See also <a href=\"https:\/\/ai.googleblog.com\/2020\/04\/exploring-nature-inspired-robot-agility.html\">https:\/\/ai.googleblog.com\/2020\/04\/exploring-nature-inspired-robot-agility.html<\/a>  and <a href=\"https:\/\/arxiv.org\/abs\/2004.00784\">https:\/\/arxiv.org\/abs\/2004.00784<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>In \u201cLearning Agile Robotic Locomotion Skills by Imitating Animals\u201d, we present a framework that takes a reference motion clip recorded from an animal (a dog, in this case) and uses RL to train a control policy that enables a robot to imitate the motion in the real world. By providing the system with different reference &hellip; <a href=\"https:\/\/pybullet.org\/wordpress\/index.php\/2020\/04\/03\/learning-agile-robotic-locomotion-skills-by-imitating-animals\/\" class=\"more-link\">Continue reading <span class=\"screen-reader-text\">Learning Agile Robotic Locomotion Skills by Imitating Animals<\/span> <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_links_to":"","_links_to_target":""},"categories":[1],"tags":[],"_links":{"self":[{"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/posts\/588"}],"collection":[{"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/comments?post=588"}],"version-history":[{"count":1,"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/posts\/588\/revisions"}],"predecessor-version":[{"id":589,"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/posts\/588\/revisions\/589"}],"wp:attachment":[{"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/media?parent=588"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/categories?post=588"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/pybullet.org\/wordpress\/index.php\/wp-json\/wp\/v2\/tags?post=588"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}