Hierarchical Apprenticeship Learning with Application to Quadruped Locomotion
J. Zico Kolter, Pieter Abbeel and Andrew Y. Ng Motivating application Hierarchical Apprenticeship Learning · "Teach" planner at many levels of abstraction

· Planning footsteps for quadruped robot over extreme terrain · Combine advice from all levels in single unified optimization problem

Poster ID T9 (with videos)

Results: Achieves state of the art performance on quadruped task