SGD for robot motion? The effectiveness of stochastic optimization on a new benchmark for biped locomotion tasks

9 Oct 2017Martim BrandaoKenji HashimotoAtsuo Takanishi

Trajectory optimization and posture generation are hard problems in robot locomotion, which can be non-convex and have multiple local optima. Progress on these problems is further hindered by a lack of open benchmarks, since comparisons of different solutions are difficult to make... (read more)

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