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<!DOCTYPE html>
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content="SLR: Learning Quadruped Locomotion without Privileged Information">
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<title>SLR: Learning Quadruped Locomotion without Privileged Information</title>
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<!-- Shiyi Chen, Zeyu Wan, Shiyang Yan, Chun Zhang, Weiyi Zhang,
Qiang Li, Debing Zhang, Fasih Ud Din Farrukh -->
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<h1 class="title is-1 publication-title">SLR: Learning Quadruped Locomotion without Privileged Information</h1>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<a href="https://github.com/11chens" target="_blank">Shiyi Chen</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://openreview.net/profile?id=~Zeyu_Wan2" target="_blank">Zeyu Wan</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://openreview.net/profile?id=~Shiyang_Yan3" target="_blank">Shiyang Yan</a><sup>1</sup></span>
<span class="author-block">
<a href="https://www.sic.tsinghua.edu.cn/en/info/1086/1470.htm" target="_blank">Chun Zhang</a><sup>†,1</sup>,</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=pQiJ8GAAAAAJ&hl=en&oi=sra" target="_blank">Weiyi Zhang</a><sup>1</sup>,</span> <br>
<span class="author-block">
<a href="https://sites.google.com/site/qiangliresearch/qiang-li-s-homepage" target="_blank">Qiang Li</a><sup>†,2</sup>,</span>
<span class="author-block">
<a href="" target="_blank">Debing Zhang</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=SDL-2OkAAAAJ&hl=en" target="_blank">Fasih Ud Din Farrukh</a><sup>1</sup></span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Tsinghua University,</span>
<span class="author-block"><sup>2</sup>Shenzhen Technology University</span>
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<span>Paper</span>
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<span>arXiv</span>
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<br>
<h2 class="subtitle has-text-centered">
<div class="content has-text-justified">
<strong>Without</strong> relying on any <strong>privileged</strong> or <strong>visual</strong> information, we can train a <strong>robust</strong> locomotion policy. In real-world deployment, the quadruped robot is capable of traversing various challenging terrains.
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<h2 class="title is-3">Abstract</h2>
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The recent mainstream reinforcement learning control for quadruped robots often relies on privileged information, demanding meticulous selection and precise estimation, thereby imposing constraints on the development process. This work proposes a Self-learning Latent Representation (SLR) method, which achieves high-performance control policy learning without the need for privileged information. To enhance the credibility of the proposed method's evaluation, SLR was directly compared with state-of-the-art algorithms using their open-source code repositories and original configuration parameters. Remarkably, SLR surpasses the performance of previous methods using only limited proprioceptive data, demonstrating significant potential for future applications. Ultimately, the trained policy and encoder empower the quadruped robot to traverse various challenging terrains.
</div>
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</section>
<!-- End paper abstract -->
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<h3 class="title is-4">Training Framework</h3>
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<img width="60%" src="./static/images/new_net.png">
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<div style="max-width: 700px; margin: 0 auto;">
The SLR training framework leverages the Markov Decision Process, guiding the latent's self-learning based on state transitions (transition model), state distinctions (random sampling), and cumulative rewards (critic), without relying on manually set privileged information constraints.
</div>
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<h3 class="title is-4">Ascend and descend mountain</h3>
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<h3 class="title is-4">Climb long stairs smoothly</h3>
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<h3 class="title is-4">Apply anti-disturbance to the robot</h3>
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<h3 class="title is-4">Navigate over challenging rocks</h3>
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<h3 class="title is-4">Tunnel through vegetation</h3>
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<source src="./static/videos/veg.mp4" type="video/mp4">
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<h2 class="title">BibTeX</h2>
<pre><code>
@inproceedings{
chen2024slr,
title={{SLR}: Learning Quadruped Locomotion without Privileged Information},
author={Shiyi Chen and Zeyu Wan and Shiyang Yan and Chun Zhang and Weiyi Zhang and Qiang Li and Debing Zhang and Fasih Ud Din Farrukh},
booktitle={8th Annual Conference on Robot Learning},
year={2024},
url={https://openreview.net/forum?id=RMkdcKK7jq}
}
</code></pre>
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