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MiladShafiee / DeepTransition

Learning Agile Quadrupedal Locomotion on Challenging Terrains
MIT License
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How does the Emergence of Gait Transitions appear? #3

Open XanderWangXY opened 1 month ago

XanderWangXY commented 1 month ago

Hello, I have been interested in CPG recently. Recently I tried your code, but I couldn't see the training process about gait transition. I see that in the original paper, the training process is divided into flat terrain and Gap Crossing, but I can not find the relevant part of the code. Looking forward to your early reply!

MiladShafiee commented 2 weeks ago

Hi @XanderWangXY. There is not any part of the code that wants to force the transition, the transition is emergent behavior that is learnt during the training autonomously.