Chen Chang

Reinforcement Learning for Quadrupedal Robot Control: Taxonomy, Sim-to-Real, Robustness, and Emerging Trends

. Quadrupedal robots exhibit strong mobility in complex environments where wheeled platforms often perform poorly, but their control remains difficult. In recent years, reinforcement learning (RL) has received growing attention in quadrupedal locomotion, as it supports direct policy optimization without relying entirel...