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09/06/2023
Robotic Table Tennis: A Case Study into a High Speed Learning System
We present a deep-dive into a real-world robotic learning system that, i...
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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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03/28/2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
Training a high-dimensional simulated agent with an under-specified rewa...
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12/28/2020
Disentangled Planning and Control in Vision Based Robotics via Reward Machines
In this work we augment a Deep Q-Learning agent with a Reward Machine (D...
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11/23/2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion
Legged robots navigating crowded scenes and complex terrains in the real...
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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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10/07/2019
Policies Modulating Trajectory Generators
We propose an architecture for learning complex controllable behaviors b...
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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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05/22/2019
Hierarchical Reinforcement Learning for Quadruped Locomotion
Legged locomotion is a challenging task for learning algorithms, especia...
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03/07/2019
When random search is not enough: Sample-Efficient and Noise-Robust Blackbox Optimization of RL Policies
Interest in derivative-free optimization (DFO) and "evolutionary strateg...
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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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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