Transferable Reinforcement Learning via Generalized Occupancy Models

no code implementations • 10 Mar 2024 • Chuning Zhu, Xinqi Wang, Tyler Han, Simon S. Du, Abhishek Gupta

In this work, we propose a novel class of models - generalized occupancy models (GOMs) - that retain the generality of model-based RL while avoiding compounding error.

reinforcement-learning Reinforcement Learning (RL)

Deep Learning for Koopman-based Dynamic Movement Primitives

no code implementations • 6 Dec 2023 • Tyler Han, Carl Glen Henshaw

The challenge of teaching robots to perform dexterous manipulation, dynamic locomotion, or whole--body manipulation from a small number of demonstrations is an important research field that has attracted interest from across the robotics community.