Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Learning Coordinated Terrain-Adaptive Locomotion by Imitating a
  Centroidal Dynamics Planner   Dynamic quadruped locomotion over challenging terrains with precise foot
placements is a hard problem for both optimal control methods and Reinforcement
Learning (RL). Non-linear solvers can produce coordinated constraint satisfying
motions, but often take too long to converge for online application. RL methods
can learn dynamic reactive controllers but require carefully tuned shaping
rewards to produce good gaits and can have trouble discovering precise
coordinated movements. Imitation learning circumvents this problem and has been
used with motion capture data to extract quadruped gaits for flat terrains.
However, it would be costly to acquire motion capture data for a very large
variety of terrains with height differences. In this work, we combine the
advantages of trajectory optimization and learning methods and show that
terrain adaptive controllers can be obtained by training policies to imitate
trajectories that have been planned over procedural terrains by a non-linear
solver. We show that the learned policies transfer to unseen terrains and can
be fine-tuned to dynamically traverse challenging terrains that require precise
foot placements and are very hard to solve with standard RL.

14
The categories of this paper are: math-ph
5
The categories of this paper are: gr-qc
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
4
The categories of this paper are: cond-mat
29
The categories of this paper are: funct-an
24
The categories of this paper are: dg-ga
16
The categories of this paper are: stat
3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th
7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph
2
The categories of this paper are: math
11
The categories of this paper are: hep-lat
6
The categories of this paper are: astro-ph
20
The categories of this paper are: acc-phys