Policy gradient reinforcement learning for fast quadrupedal locomotion. Kohl, N. and Stone, P. In Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on, volume 3, pages 2619–2624, 2004. IEEE.
bibtex   
@InProceedings{stoneICRA04,
  title={Policy gradient reinforcement learning for fast quadrupedal locomotion},
  author={Kohl, Nate and Stone, Peter},
  booktitle={Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on},
  volume={3},
  pages={2619--2624},
  year={2004},
  organization={IEEE}
}
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