Search Results for author: Luigi Campanaro

Found 3 papers, 1 papers with code

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

3 code implementations29 Sep 2022 Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis

Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency.

Reinforcement Learning (RL)

CPG-ACTOR: Reinforcement Learning for Central Pattern Generators

no code implementations25 Feb 2021 Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis

Our results on a locomotion task using a single-leg hopper demonstrate that explicitly using the CPG as the Actor rather than as part of the environment results in a significant increase in the reward gained over time (6x more) compared with previous approaches.


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