Cagan Bakirci

Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications

Merve Atasever, Cagan Bakirci, Alfredo Reina Corona, Keyan Azbijari, Jyotirmoy V. Deshmukh

Reinforcement learning (RL) for quadruped locomotion commonly depends on fixed, hand-crafted, and Markovian reward functions that limit both interpretability of learned policies and lack explicit control over gait behaviors. We introduce a framework where distinct gaits are speci…Read more