Kai Ito

Contact-History-Based Velocity-Tracking Reward Derived from Center-of-Mass Controllability for Quadruped Locomotion

Velocity tracking is a fundamental task in reinforcement learning for quadruped locomotion. Conventional velocity-tracking rewards are typically formulated in terms of the squared error between commanded and actual velocities. In this study, we propose a velocity-tracking reward from the controllability Gramian of cent...