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Legged Robots

6 papers with code · Robots

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Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics

20 Sep 2017resibots/blackdrops

The most data-efficient algorithms for reinforcement learning in robotics are model-based policy search algorithms, which alternate between learning a dynamical model of the robot and optimizing a policy to maximize the expected return given the model and its uncertainties. Among the few proposed approaches, the recently introduced Black-DROPS algorithm exploits a black-box optimization algorithm to achieve both high data-efficiency and good computation times when several cores are used; nevertheless, like all model-based policy search approaches, Black-DROPS does not scale to high dimensional state/action spaces.


Learning agile and dynamic motor skills for legged robots

24 Jan 2019junja94/anymal_science_robotics_supplementary

Legged robots pose one of the greatest challenges in robotics. In the present work, we introduce a method for training a neural network policy in simulation and transferring it to a state-of-the-art legged system, thereby leveraging fast, automated, and cost-effective data generation schemes.


Reset-free Trial-and-Error Learning for Robot Damage Recovery

13 Oct 2016resibots/chatzilygeroudis_2018_rte

However, the best RL algorithms for robotics require the robot and the environment to be reset to an initial state after each episode, that is, the robot is not learning autonomously. In this paper, we introduce a novel learning algorithm called "Reset-free Trial-and-Error" (RTE) that (1) breaks the complexity by pre-generating hundreds of possible behaviors with a dynamics simulator of the intact robot, and (2) allows complex robots to quickly recover from damage while completing their tasks and taking the environment into account.


Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search

20 Sep 2017resibots/pautrat_2018_mlei

One of the most interesting features of Bayesian optimization for direct policy search is that it can leverage priors (e.g., from simulation or from previous tasks) to accelerate learning on a robot. In this paper, we are interested in situations for which several priors exist but we do not know in advance which one fits best the current situation.


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

9 Oct 2017martimbrandao/legopt-benchmark

In this paper we introduce a new benchmark for trajectory optimization and posture generation of legged robots, using a pre-defined scenario, robot and constraints, as well as evaluation criteria. We evaluate state-of-the-art trajectory optimization algorithms based on sequential quadratic programming (SQP) on the benchmark, as well as new stochastic and incremental optimization methods borrowed from the large-scale machine learning literature.


Meta Learning Shared Hierarchies

ICLR 2018 dsapandora/s_cera

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically, a set of primitives are shared within a distribution of tasks, and are switched between by task-specific policies.