3 papers
cs.RO2023
Solving the swing-up and balance task for the Acrobot and Pendubot with SAC
Chi Zhang, Akhil Sathuluri, Markus Zimmermann
We present a solution of the swing-up and balance task for the pendubot and acrobot for the participation in the AI Olympics competition at IJCAI 2023. Our solution is based on the…
cs.RO2022
A systems design approach for the co-design of a humanoid robot arm
Akhil Sathuluri, Anand Vazhapilli Sureshbabu, Markus Zimmermann
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's…
cs.LG2019
MaMiC: Macro and Micro Curriculum for Robotic Reinforcement Learning
Manan Tomar, Akhil Sathuluri, Balaraman Ravindran
Shaping in humans and animals has been shown to be a powerful tool for learning complex tasks as compared to learning in a randomized fashion. This makes the problem less complex a…