Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning

Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning Sicen Li, Yiming Pang, Panju Bai, Zhaojin Liu, Gang Wang, Shihao Hu, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3812430/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 15 Nov, 2024 Read the published version in Scientific Reports → Version 1 posted 11 You are reading this latest preprint version Abstract Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking controller that achieves powerful agility and adaptation for the legged robot. The two key components are (i) a novel automatic curriculum strategy on task difficulty and (ii) a Hindsight Experience Replay strategy adapted to legged locomotion tasks. We demonstrated successful agile and adaptive locomotion on a real quadruped robot that performed fall recovery autonomously, coherent trotting, sustained outdoor running speeds up to 3.45 m/s, and tuning speeds up to 3.2 rad/s. This system produces adaptive behaviors responding to changing situations and unexpected disturbances on natural terrains like grass and dirt. Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Engineering/Mechanical engineering Full Text Additional Declarations No competing interests reported. Supplementary Files SupplementaryVideo1.mp4 SupplementaryVideo2.mp4 Cite Share Download PDF Status: Published Journal Publication published 15 Nov, 2024 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Revision requested 29 Jul, 2024 Reviews received at journal 23 Jul, 2024 Reviewers agreed at journal 10 Jul, 2024 Reviews received at journal 14 Feb, 2024 Reviewers agreed at journal 05 Feb, 2024 Reviewers agreed at journal 04 Feb, 2024 Reviewers invited by journal 04 Feb, 2024 Editor assigned by journal 28 Dec, 2023 Editor invited by journal 28 Dec, 2023 Submission checks completed at journal 28 Dec, 2023 First submitted to journal 27 Dec, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3812430","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":264349615,"identity":"71c6f960-bc35-4858-b37d-2f1821db8bd0","order_by":0,"name":"Sicen Li","email":"","orcid":"","institution":"Harbin Engineering University","correspondingAuthor":false,"prefix":"","firstName":"Sicen","middleName":"","lastName":"Li","suffix":""},{"id":264349616,"identity":"81f838ab-f6b7-4fc6-9d18-8e55ab7b16ab","order_by":1,"name":"Yiming Pang","email":"","orcid":"","institution":"Harbin Engineering 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