LOCOMOTION
HORIZON：基于可恢复性的物理域扩展课程学习
Chenhao Bai, Liqin Lu, Kaijun Wang, Hui Chen, Jin-Chuan Shi, Yuyang Liu, Hao Chen, Chunhua Shen
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出HORIZON框架，通过检查点前沿课程在四足机器人运动任务中动态扩展物理域，仅在当前策略的可恢复边界内引入新动力学。实验揭示了物理域扩展的三个规律：直接域扩展不均匀且需分阶段排序，域组合非单调且过度添加会稀释可恢复性。
关键词
quadruped locomotioncurriculum learningrecoverabilityphysical-domain scalingon-policy training
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