Author

Hao-Dong Huang

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Conference Open access Aug 2026

PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion

Although reinforcement learning (RL) has shown great potential in legged robot motion control, traditional methods face two major bottlenecks: the strategy training of a single robot requires a large amount of computational resources, and the trained models are highly specific and complex for direct transfer and applic...

Hao-Dong Huang, Shi-Long Sun, Hailin Huang et al. · Journal of Physics, Conferen... · 1 citation · ⚡1

Apr 2025

PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion

This paper proposes a novel framework called Prior Transfer Reinforcement Learning (PTRL), which improves both training efficiency and model transferability across different robots, and introduces a fine-tuning mechanism that selectively freezes layers of the policy network during transfer.

Hao-Dong Huang, Shi-Long Sun, Zi-Da Zhao et al. · arXiv.org · 0 citations