LEARNING HIERARCHICAL TASK-SPACE CONTROL POLICIES FOR WHOLE-BODY LOCOMOTION

quadruped locomotion, optimal control, whole-body control, reinforcement learning, task-space control, arbis subjects::engineering and technology::electrical and electronics engineering::other, arbis subjects::engineering and technology::mechanical engineering::machine theory and dynamics::robotics, arbis subjects::engineering and technology::mechanical engineering::machine theory and dynamics::system dynamics and control