Yu-Cheng Chang

Enhancing Proprioceptive Reinforcement Learning-Based Quadrupedal Locomotion Controller via Explicit-Implicit Estimation Network

Industrial inspection often involves safety risks, making legged robots highly suitable for replacing human labor. However, robust locomotion across diverse, unstructured terrains remains challenging due to estimation uncertainties. In this work, we propose a proprioceptive reinforcement learning (RL)-based locomotion...