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Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
Jenny Zhang, Steve Heim, Se Hwan Jeon +1
We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feed…
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion
Se Hwan Jeon, Steve Heim, Charles Khazoom +1
The main challenge in developing effective reinforcement learning (RL) pipelines is often the design and tuning the reward functions. Well-designed shaping reward can lead to signi…
Learning Fast and Precise Pixel-to-Torque Control
Steffen Bleher, Steve Heim, Sebastian Trimpe
In the field, robots often need to operate in unknown and unstructured environments, where accurate sensing and state estimation (SE) becomes a major challenge. Cameras have been u…