Higher-Order Morphology Priors for Quadruped Reinforcement Learning Under Actuator Degradation
Actuator degradation turns quadruped locomotion into a coordination problem requiring joints to compensate for lost actuation. Prior work suggests that morphology-aware graph policies improve learning and generalization under body perturbations. We ask whether these benefits can be strengthened by explicitly modeling h...
Derek You, Zafir Shamsi, Ke-Qin Wang et al.
· 0 citations