Table 2 Dynamics randomization details of LLRE during training and testing
Dynamic parameters | Training range | Testing range |
|---|---|---|
Friction coefficient | [0.9,1.6]*default value | [0.7,2.0]*default value |
Mass | [0.8,1.2]*default value | [0.7,1.5]*default value |
Motor command tracking accuracy | [0.8,1.2]*default value | [0.7,1.3]*default value |
Observation latency | [0,0.04]s | [0,0.06]s |
Control delay | [0,0.04]s | [0,0.06]s |
Inertial | [0.5,1.5]*default value | [0.4,1.6]*default value |
Center of mass | [0.9,1.2]*default value | [0.8,1.3]*default value |