38 citations · 166 across the 9 of their papers we have counts for
4 papers · 1 filter
Policies Modulating Trajectory Generators
Atil Iscen, Ken Caluwaerts, Jie Tan +4
We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both…
Data Efficient Reinforcement Learning for Legged Robots
Yuxiang Yang, Ken Caluwaerts, Atil Iscen +3
We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately…
Hierarchical Reinforcement Learning for Quadruped Locomotion
Deepali Jain, Atil Iscen, Ken Caluwaerts
Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hie…
NoRML: No-Reward Meta Learning
Yuxiang Yang, Ken Caluwaerts, Atil Iscen +2
Efficiently adapting to new environments and changes in dynamics is critical for agents to successfully operate in the real world. Reinforcement learning (RL) based approaches typi…