Hierarchical Free Gait Motion Planning for Hexapod Robots Using Deep Reinforcement Learning
E1: Plum-blossom piles used in the real environment
E3: Random-Stairs plum-blossom piles environment
E5: Continuous trench plum-blossom piles environment
E2: Flat plum-blossom piles environment
E4: Random-height plum-blossom piles environment
E5: Demonstration of gait switching in continuous trench plum-blossom piles environment
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