Science Robotics

Supplementary Materials

The PDF file includes:

  • Section S1. Nomenclature
  • Section S2. Random command sampling method used for evaluating the learned command-conditioned controller
  • Section S3. Cost terms for training command-conditioned locomotion and high-speed locomotion tasks
  • Section S4. Cost terms for training recovery from a fall
  • Fig. S1. Base velocity tracking performance of the learned controller while following random commands.
  • Fig. S2. Base velocity tracking performance of the best existing method while following random commands.
  • Fig. S3. Sampled initial states for training a recovery controller.
  • Table S1. Command distribution for training command-conditioned locomotion.
  • Table S2. Command distribution for training high-speed locomotion.
  • Table S3. Initial state distribution for training both the command-conditioned and high-speed locomotion.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Locomotion policy trained with a learned actuator model.
  • Movie S2 (.mp4 format). Random command experiment.
  • Movie S3 (.mp4 format). Locomotion policy trained with an analytical actuator model.
  • Movie S4 (.mp4 format). Locomotion policy trained with an ideal actuator model.
  • Movie S5 (.mp4 format). Performance of a learned high-speed policy.
  • Movie S6 (.mp4 format). Performance of a learned recovery policy.

Files in this Data Supplement: