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07/16/2022
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning
For legged robots to match the athletic capabilities of humans and anima...
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07/09/2022
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning
In this work, we propose a method to generate reduced-order model refere...
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05/03/2022
Learning Dynamic Bipedal Walking Across Stepping Stones
In this work, we propose a learning approach for 3D dynamic bipedal walk...
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04/09/2022
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
Recent work on sim-to-real learning for bipedal locomotion has demonstra...
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03/28/2022
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
The complex dynamics of agile robotic legged locomotion requires motion ...
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03/15/2022
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking
Recently, work on reinforcement learning (RL) for bipedal robots has suc...
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11/29/2021
Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits
In this paper, we investigate whether applying ankle torques during mid-...
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05/18/2021
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning
Accurate and precise terrain estimation is a difficult problem for robot...
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11/09/2020
Learning Task Space Actions for Bipedal Locomotion
Recent work has demonstrated the success of reinforcement learning (RL) ...
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11/02/2020
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
We study the problem of realizing the full spectrum of bipedal locomotio...
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10/21/2020
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
In this paper, we describe an approach to achieve dynamic legged locomot...
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06/03/2020
Learning Memory-Based Control for Human-Scale Bipedal Locomotion
Controlling a non-statically stable biped is a difficult problem largely...
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01/28/2020
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running
We propose a method to generate actuation plans for a reduced order, dyn...
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03/22/2019
Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie
Deep reinforcement learning (DRL) is a promising approach for developing...
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03/15/2018