
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
Navigation policies are commonly learned on idealized cylinder agents in...
read it

Leveraging Forward Model Prediction Error for Learning Control
Learning for model based control can be sampleefficient and generalize ...
read it

ModelBased Inverse Reinforcement Learning from Visual Demonstrations
Scaling modelbased inverse reinforcement learning (IRL) to real robotic...
read it

Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion
Hierarchical learning has been successful at learning generalizable loco...
read it

Learning StateDependent Losses for Inverse Dynamics Learning
Being able to quickly adapt to changes in dynamics is paramount in model...
read it

ReExamining Linear Embeddings for HighDimensional Bayesian Optimization
Bayesian optimization (BO) is a popular approach to optimize expensivet...
read it

Encoding Physical Constraints in Differentiable NewtonEuler Algorithm
The recursive NewtonEuler Algorithm (RNEA) is a popular technique in ro...
read it

Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning
Learning to locomote to arbitrary goals on hardware remains a challengin...
read it

Bayesian Optimization in Variational Latent Spaces with Dynamic Compression
Dataefficiency is crucial for autonomous robots to adapt to new tasks a...
read it

Curious iLQR: Resolving Uncertainty in Modelbased RL
Curiosity as a means to explore during reinforcement learning problems h...
read it

Using Deep Reinforcement Learning to Learn HighLevel Policies on the ATRIAS Biped
Learning controllers for bipedal robots is a challenging problem, often ...
read it

Using Simulation to Improve SampleEfficiency of Bayesian Optimization for Bipedal Robots
Learning for control can acquire controllers for novel robotic tasks, pa...
read it
Akshara Rai
is this you? claim profile