Author

E. Lupu

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Jul 2026

The Open Ant: A Robot Platform for Reinforcement Learning Research

The Open Ant is presented: a physical variant of the commonly used Gymnasium Ant environment, along with a simulation, that demonstrates that competent walking policies can be learned from scratch in approximately one hour directly from the physical robot's experience for two substantially different RL algorithms: SARSA($\lambda$) and Soft Actor-Critic (SAC).

E. Lupu, Patrick Spieler, Khurram Javed et al. · arXiv.org · 0 citations