Omnidirectional Locomotion
Developed command-conditioned AMP policies for omnidirectional locomotion on Booster K1, achieving stable real-robot velocity tracking from −1.5 to +2.0 m/s forward/backward, ±1.5 m/s laterally, and ±1.7 rad/s in yaw.
Developed command-conditioned AMP policies for omnidirectional locomotion on Booster K1, achieving stable real-robot velocity tracking from −1.5 to +2.0 m/s forward/backward, ±1.5 m/s laterally, and ±1.7 rad/s in yaw.