Author

Zi-Da Zhao

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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