相关论文: Learning Controller Gains on Bipedal Walking Robot…

Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We…

Our goal is to accurately and efficiently learn reward functions for autonomous robots. Current approaches to this problem include inverse reinforcement learning (IRL), which uses expert demonstrations, and preference-based learning, which…

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…

We propose a new online learning model for learning with preference feedback. The model is especially suited for applications like web search and recommender systems, where preference data is readily available from implicit user feedback…

With a growing interest in data-driven control techniques, Model Predictive Control (MPC) provides an opportunity to exploit the surplus of data reliably, particularly while taking safety and stability into account. In many real-world and…

Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…

When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…

For AI systems to be useful to humans, they must understand and act in accordance with our values and preferences. Since specifying preferences is a hard task, inverse reinforcement learning (IRL) aims to develop methods that allow for…

Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free reinforcement learning. However, these outstanding controllers…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…

In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…

Controllers in robotics often consist of expert-designed heuristics, which can be hard to tune in higher dimensions. It is typical to use simulation to learn these parameters, but controllers learned in simulation often don't transfer to…