Co-jump enables two quadrupeds to synchronize jumps up to 1.5m via MAPPO and curriculum, without communication. Achieves 144% height gain over solo robots using proprioception. Transfers from sim to hardware.
Key Points
- 1.Decentralized multi-agent RL for high-impulse jumps
- 2.Progressive curriculum overcomes sparse rewards
- 3.1.1m foot elevation demonstrated
Impact Analysis
Pushes legged robot limits through collaboration, foundational for comm-free multi-robot tasks.
Technical Details
MAPPO handles coupled dynamics; no motion primitives needed; multi-directional platform jumps.