Before revision:  We test our learning framework on a quadruped robot and demonstrate automatic gait transitions, from walking to trotting and to fly-trotting, as the robot increases its speed up to 2.5m/s (5 body lengths/s) . We show that the learned hierarchical controller consumes much less energy across a wide range of locomotion speed than baseline controllers.
After revision:  We test our learning framework on a quadruped robot and demonstrate automatic gait transitions, from walking to trotting and to fly-trotting, as the robot increases its speed . We show that the learned hierarchical controller consumes much less energy across a wide range of locomotion speed than baseline controllers.