相关论文: Learning walk and trot from the same objective usi…

Random walks are the simplest way to explore or search a graph, and have revealed a very useful tool to investigate and characterize the structural properties of complex networks from the real world, e.g. they have been used to identify the…

Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of complex controllers that can map sensory inputs directly to low-level actions. In the domain of robotic locomotion, deep RL could enable learning…

Massive practical works addressed by Deep Q-network (DQN) algorithm have indicated that stochastic policy, despite its simplicity, is the most frequently used exploration approach. However, most existing stochastic exploration approaches…

We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique…

The goal of gait recognition is to extract identity-invariant features of an individual under various gait conditions, e.g., cross-view and cross-clothing. Most gait models strive to implicitly learn the common traits across different gait…

With the growing interest in quantum machine learning, the perceptron -- a fundamental building block in traditional machine learning -- has emerged as a valuable model for exploring quantum advantages. Two quantum perceptron algorithms…

Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…

We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both memory and prior knowledge to the controller. The result is…

Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…

Analyzing the temporal behavior of nodes in time-varying graphs is useful for many applications such as targeted advertising, community evolution and outlier detection. In this paper, we present a novel approach, STWalk, for learning…

In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…

Random walks find extensive application across various complex network domains, including embedding generation and link prediction. Despite the widespread utilization of random walks, the precise impact of distinct biases on embedding…

The random walk with choice is a well known variation to the random walk that first selects a subset of $d$ neighbours nodes and then decides to move to the node which maximizes the value of a certain metric; this metric captures the number…

To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…

Trajectories that capture object movement have numerous applications, in which similarity computation between trajectories often plays a key role. Traditionally, the similarity between two trajectories is quantified by means of heuristic…

In this paper, we present an overview of different types of random walk strategies with local and non-local transitions on undirected connected networks. We present a general approach to analyzing these strategies by defining the dynamics…

Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are…

Random walk based node embedding algorithms learn vector representations of nodes by optimizing an objective function of node embedding vectors and skip-bigram statistics computed from random walks on the network. They have been applied to…

In this paper, we examine the effects of goal representation on the performance and generalization in multi-gait policy learning settings for legged robots. To study this problem in isolation, we cast the policy learning problem as…

This paper presents a novel incremental learning algorithm for pedestrian motion prediction, with the ability to improve the learned model over time when data is incrementally available. In this setup, trajectories are modeled as simple…