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07/31/2023
Discovering Adaptable Symbolic Algorithms from Scratch
Autonomous robots deployed in the real world will need control policies ...
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06/24/2023
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism
This paper explores the principles for transforming a quadrupedal robot ...
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06/16/2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller
We present CAJun, a novel hierarchical learning and control framework th...
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06/15/2023
Datasets and Benchmarks for Offline Safe Reinforcement Learning
This paper presents a comprehensive benchmarking suite tailored to offli...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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06/13/2023
SayTap: Language to Quadrupedal Locomotion
Large language models (LLMs) have demonstrated the potential to perform ...
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05/24/2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Animals have evolved various agile locomotion strategies, such as sprint...
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05/01/2023
IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience
We present IndoorSim-to-OutdoorReal (I2O), an end-to-end learned visual ...
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04/17/2023
Continuous Versatile Jumping Using Learned Action Residuals
Jumping is essential for legged robots to traverse through difficult ter...
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03/23/2023
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning
As robots become more prevalent, optimizing their design for better perf...
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02/02/2023
Mnemosyne: Learning to Train Transformers with Transformers
Training complex machine learning (ML) architectures requires a compute ...
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12/06/2022
Efficient Learning of Voltage Control Strategies via Model-based Deep Reinforcement Learning
This article proposes a model-based deep reinforcement learning (DRL) me...
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10/19/2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
We propose a framework to enable multipurpose assistive mobile robots to...
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09/22/2022
Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation
Despite decades of research, existing navigation systems still face real...
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07/27/2022
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
Evolution Strategy (ES) algorithms have shown promising results in train...
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06/27/2022
Learning Semantics-Aware Locomotion Skills from Human Demonstration
The semantics of the environment, such as the terrain type and property,...
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05/29/2022
On the Robustness of Safe Reinforcement Learning under Observational Perturbations
Safe reinforcement learning (RL) trains a policy to maximize the task re...
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04/08/2022
Multi-objective evolution for Generalizable Policy Gradient Algorithms
Performance, generalizability, and stability are three Reinforcement Lea...
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03/05/2022
Safe Reinforcement Learning for Legged Locomotion
Designing control policies for legged locomotion is complex due to the u...
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12/07/2021
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance
Safe exploration is critical for using reinforcement learning (RL) in ri...
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11/29/2021
Physics-informed Evolutionary Strategy based Control for Mitigating Delayed Voltage Recovery
In this work we propose a novel data-driven, real-time power system volt...
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10/12/2021
Does it matter who pays back Technical Debt? An empirical study of self-fixed TD
Context: Technical Debt (TD) can be paid back either by those that incur...
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10/11/2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
Legged robots are physically capable of traversing a wide range of chall...
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09/12/2021
Learning to Navigate Sidewalks in Outdoor Environments
Outdoor navigation on sidewalks in urban environments is the key technol...
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06/22/2021
Do practitioners intentionally self-fix Technical Debt and why?
The impact of Technical Debt (TD) on software maintenance and evolution ...
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04/13/2021
Disentangled Motif-aware Graph Learning for Phrase Grounding
In this paper, we propose a novel graph learning framework for phrase gr...
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04/09/2021
Fast and Efficient Locomotion via Learned Gait Transitions
We focus on the problem of developing efficient controllers for quadrupe...
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02/04/2021
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned
Deep reinforcement learning (RL) has emerged as a promising approach for...
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01/15/2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning
As learning-based approaches progress towards automating robot controlle...
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01/13/2021
Learning and Fast Adaptation for Grid Emergency Control via Deep Meta Reinforcement Learning
As power systems are undergoing a significant transformation with more u...
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11/11/2020
Learning Agile Locomotion Skills with a Mentor
Developing agile behaviors for legged robots remains a challenging probl...
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11/11/2020
Zero-Shot Terrain Generalization for Visual Locomotion Policies
Legged robots have unparalleled mobility on unstructured terrains. Howev...
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10/27/2020
Learning to be Safe: Deep RL with a Safety Critic
Safety is an essential component for deploying reinforcement learning (R...
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08/03/2020
Learning Agile Locomotion via Adversarial Training
Developing controllers for agile locomotion is a long-standing challenge...
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04/02/2020
Learning Agile Robotic Locomotion Skills by Imitating Animals
Reproducing the diverse and agile locomotion skills of animals has been ...
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03/15/2020
Cooperation without Coordination: Hierarchical Predictive Planning for Decentralized Multiagent Navigation
Decentralized multiagent planning raises many challenges, such as adapti...
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03/02/2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning
Learning adaptable policies is crucial for robots to operate autonomousl...
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02/20/2020
Learning to Walk in the Real World with Minimal Human Effort
Reliable and stable locomotion has been one of the most fundamental chal...
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10/07/2019
Policies Modulating Trajectory Generators
We propose an architecture for learning complex controllable behaviors b...
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09/28/2019
Learning Fast Adaptation with Meta Strategy Optimization
The ability to walk in new scenarios is a key milestone on the path towa...
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09/27/2019
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation
Imitation learning is a popular approach for training effective visual n...
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09/26/2019
Autonomous Control of a Tendon-driven Robotic Limb with Elastic Elements Reveals that Added Elasticity can Enhance Learning
Passive elastic elements can contribute to stability, energetic efficien...
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07/08/2019
Data Efficient Reinforcement Learning for Legged Robots
We present a model-based framework for robot locomotion that achieves wa...
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03/09/2019
Adaptive Power System Emergency Control using Deep Reinforcement Learning
Power system emergency control is generally regarded as the last safety ...
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03/04/2019
NoRML: No-Reward Meta Learning
Efficiently adapting to new environments and changes in dynamics is crit...
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12/26/2018
Learning to Walk via Deep Reinforcement Learning
Deep reinforcement learning suggests the promise of fully automated lear...
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12/13/2018
Soft Actor-Critic Algorithms and Applications
Model-free deep reinforcement learning (RL) algorithms have been success...
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05/20/2018
Optimizing Simulations with Noise-Tolerant Structured Exploration
We propose a simple drop-in noise-tolerant replacement for the standard ...
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04/27/2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
Designing agile locomotion for quadruped robots often requires extensive...
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03/03/2017