Search Results for author: Mathieu Geisert

Found 3 papers, 1 papers with code

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation

no code implementations • 2 May 2022 • Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains.

Disentanglement

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Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

no code implementations • 9 Dec 2021 • Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

This encourages disentanglement such that application of a drive signal to a single dimension of the latent state induces holistic plans synthesising a continuous variety of trot styles.

Disentanglement

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RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

1 code implementation • 5 Dec 2020 • Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon, Ioannis Havoutis

We evaluate the robustness of our method over a wide variety of complex terrains.

reinforcement-learning Reinforcement Learning (RL)

254

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