Legged locomotion is widespread in nature and has inspired the design of current robots. The controller these legged robots often realized as one centralized instance. However, nature, control movement happens a hierarchical decentralized fashion. Introducing biological principles into robotic systems motivated this work. We tackle question whether beneficial for present novel decentral, archit...

As learning-based methods make their way from perception systems to planning/control stacks, robot control have started enjoy the benefits that data-driven provide. Because directly affect motion of robot, methods, especially black box approaches, need be used with caution considering aspects such as stability and interpretability. In this letter, we describe a differentiable hierarchical archi...