27 citations · 106 across the 13 of their papers we have counts for
15 papers
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Ken Caluwaerts, Atil Iscen, J. Chase Kew +41
Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biol…
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
Steven Bohez, Saran Tunyasuvunakool, Philemon Brakel +18
We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots. Our approach builds upon previous work on imitati…
Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics
Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier +7
Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision…
Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer
Rae Jeong, Jackie Kay, Francesco Romano +6
Learning robotic control policies in the real world gives rise to challenges in data efficiency, safety, and controlling the initial condition of the system. On the other hand, sim…
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
Diego Ferigo, Silvio Traversaro, Francesco Romano +1
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The a…
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
Stefano Dafarra, Gabriele Nava, Marie Charbonneau +8
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of thr…