关键词：腿式机器人；步行机；强化学习算法；搜索范围
摘 要：In this paper we evaluate the need for a reinforcement learning algorithm to optimize the gait of OctoRoACH, a hand-sized eight-legged robot. We then perform an evaluation of a likelihood-ratio gradient policy and compare it against our hand-tuned results. Finally, we suggest a different approach to reduce the policy search space that can make the problem more manageable.