neuro-evolutionary_cpg-rbfn

Neural Evolutionary Learning for legged locomotion based on CPG-RBFN framework.

Course project for the course ROB 537 Learning Based Control at Oregon State University in Fall 2023.

To train the model run the following command:

python3 run_train.py

Our paper can be found here.

Videos from our experiments can be found in this Google drive folder.

The network overview is as follows:

In this network using our method, Neuroevolution Learning we learn the $C_{ij}$ RBF centers and $w_{jk}$ output weights.

Project by:

• Ashutosh Gupta
• Manuel Agraz
• Ayan Robinson