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- W3178351738 abstract "Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper presents Rapid Motor Adaptation (RMA) algorithm to solve this problem of real-time online adaptation in quadruped robots. RMA consists of two components: a base policy and an adaptation module. The combination of these components enables the robot to adapt to novel situations in fractions of a second. RMA is trained completely in simulation without using any domain knowledge like reference trajectories or predefined foot trajectory generators and is deployed on the A1 robot without any fine-tuning. We train RMA on a varied terrain generator using bioenergetics-inspired rewards and deploy it on a variety of difficult terrains including rocky, slippery, deformable surfaces in environments with grass, long vegetation, concrete, pebbles, stairs, sand, etc. RMA shows state-of-the-art performance across diverse real-world as well as simulation experiments. Video results at this https URL" @default.
- W3178351738 created "2021-07-19" @default.
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- W3178351738 date "2021-07-08" @default.
- W3178351738 modified "2023-09-27" @default.
- W3178351738 title "RMA: Rapid Motor Adaptation for Legged Robots." @default.
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