Search Results for author: Michael Neunert

Found 21 papers, 5 papers with code

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.


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