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Researchers from ETH Zurich and NVIDIA used massively parallel deep reinforcement learning to train a quadrupedal robot, ANYmal, to walk on challenging terrain in under 20 minutes on a single GPU, achieving a speedup of multiple orders of magnitude compared to previous work. They presented a novel game-inspired curriculum and analyzed the impact of different training algorithm components in the massively parallel regime on the final policy performance and training times. The approach was validated by transferring the policies to the real robot, and the training code was open-sourced to accelerate further research in learned legged locomotion.

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Researchers from ETH Zurich and NVIDIA used massively parallel deep reinforcement learning to train a quadrupedal robot, ANYmal, to walk on challenging terrain...

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  • File Format: PDF
  • File Size: 36.39 MB
  • Pages: 10
  • Language: EN
  • Author: Anonymous Submission
  • Total Downloads: 64
  • Last Updated: 1 month ago

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