Search Results for author: Jonas Buchli

Found 13 papers, 2 papers with code

Local Search for Policy Iteration in Continuous Control

no code implementations12 Oct 2020 Jost Tobias Springenberg, Nicolas Heess, Daniel Mankowitz, Josh Merel, Arunkumar Byravan, Abbas Abdolmaleki, Jackie Kay, Jonas Degrave, Julian Schrittwieser, Yuval Tassa, Jonas Buchli, Dan Belov, Martin Riedmiller

We demonstrate that additional computation spent on model-based policy improvement during learning can improve data efficiency, and confirm that model-based policy improvement during action selection can also be beneficial.

Continuous Control Reinforcement Learning (RL)

Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics

no code implementations2 Jan 2020 Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier, Thomas Lampe, Jost Tobias Springenberg, Roland Hafner, Francesco Romano, Jonas Buchli, Nicolas Heess, Martin Riedmiller

In contrast, we propose to treat hybrid problems in their 'native' form by solving them with hybrid reinforcement learning, which optimizes for discrete and continuous actions simultaneously.

reinforcement-learning Reinforcement Learning (RL)

Success at any cost: value constrained model-free continuous control

no code implementations27 Sep 2018 Steven Bohez, Abbas Abdolmaleki, Michael Neunert, Jonas Buchli, Nicolas Heess, Raia Hadsell

We demonstrate the efficiency of our approach using a number of continuous control benchmark tasks as well as a realistic, energy-optimized quadruped locomotion task.

Continuous Control

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

2 code implementations12 Jan 2018 Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli

The CT was designed to solve large-scale optimal control and estimation problems efficiently and allows for online control of dynamic systems.

Robotics Optimization and Control

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

no code implementations7 Dec 2017 Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli

In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts.


A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control

2 code implementations29 Nov 2017 Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl

This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control.

Systems and Control Robotics Optimization and Control

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

no code implementations12 Sep 2017 Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli

First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model.


Optimal and Learning Control for Autonomous Robots

no code implementations30 Aug 2017 Jonas Buchli, Farbod Farshidian, Alexander Winkler, Timothy Sandy, Markus Giftthaler

Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforcement learning for closed loop control problems from a unified point of view.

reinforcement-learning Reinforcement Learning (RL) +1

Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control

no code implementations27 Jan 2017 Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints.


Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator

no code implementations13 Jan 2017 Markus Giftthaler, Timothy Sandy, Kathrin Dörfler, Ian Brooks, Mark Buckingham, Gonzalo Rey, Matthias Kohler, Fabio Gramazio, Jonas Buchli

This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication.


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