From 9530aa11e392dcf8fbadb7a748a57e242aa6d4e6 Mon Sep 17 00:00:00 2001 From: Andrew Date: Tue, 23 Apr 2024 13:50:00 +0200 Subject: [PATCH] add a reference --- mjx/training_apg.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mjx/training_apg.ipynb b/mjx/training_apg.ipynb index bb7d35ed..baf44ccd 100644 --- a/mjx/training_apg.ipynb +++ b/mjx/training_apg.ipynb @@ -813,7 +813,7 @@ "source": [ "## Study 2: Quadruped Locomotion\n", "\n", - "As we saw in the imitation learning example, FoPG methods benefit from detailed reward signals. To teach locomotion, we reward the feet based on the Raibert Heuristic. We implement a gait schedule, that incentivizes opposite pairs of legs to move in sync at a fixed frequency. At the beginning of a new scheduled step, we calculate the target position for the feet at the end of the step. \n", + "As we saw in the imitation learning example, FoPG methods benefit from detailed reward signals. To teach locomotion, we reward the feet based on the Raibert Heuristic. Similarly to [prior work](https://arxiv.org/abs/2403.14864), we use a gait schedule to incentivize opposite pairs of legs to move in sync at a fixed frequency. At the beginning of a new scheduled step, we calculate the target position for the feet at the end of the step. \n", "\n", "For each foot, we calculate:\n", "\n",