Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion

摘要

In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Predefined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion behaviors of humans and animals, which adapt their gaits to minimize energy consumption, we investigate the impact of incorporating an energy-efficient reward term that prioritizes distance-averaged energy consumption into the reinforcement learning framework. Our findings demonstrate that this simple addition enables quadruped robots to autonomously select appropriate gaits-such as four-beat walking at lower speeds and trotting at higher speeds-without the need for explicit gait regularizations. Furthermore, we provide a guideline for tuning the weight of this energy-efficient reward, facilitating its application in real-world scenarios. The effectiveness of our approach is validated through simulations and on a real Unitree Gol robot. This research highlights the potential of energy-centric reward functions to simplify and enhance the learning of adaptive and efficient locomotion in quadruped robots. Videos and more details are at https://sites.google.com/berkeley.edu/efficient-locomotion