198 citations · 1.2k across the 20 of their papers we have counts for
20 papers
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan +169
General-purpose robots need a deep understanding of the physical world, advanced reasoning, and general and dexterous control. This report introduces the latest generation of the G…
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
Tuomas Haarnoja, Ben Moran, Guy Lever +25
We investigate whether Deep Reinforcement Learning (Deep RL) is able to synthesize sophisticated and safe movement skills for a low-cost, miniature humanoid robot that can be compo…
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
Taylor Howell, Nimrod Gileadi, Saran Tunyasuvunakool +3
We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to ea…
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…
GRChombo: An adaptable numerical relativity code for fundamental physics
Tomas Andrade, Llibert Areste Salo, Josu C. Aurrekoetxea +29
GRChombo is an open-source code for performing Numerical Relativity time evolutions, built on top of the publicly available Chombo software for the solution of PDEs. Whilst GRChomb…
From Motor Control to Team Play in Simulated Humanoid Football
Siqi Liu, Guy Lever, Zhe Wang +19
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous mus…
Physically Embedded Planning Problems: New Challenges for Reinforcement Learning
Mehdi Mirza, Andrew Jaegle, Jonathan J. Hunt +9
Recent work in deep reinforcement learning (RL) has produced algorithms capable of mastering challenging games such as Go, chess, or shogi. In these works the RL agent directly obs…
Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion
Roland Hafner, Tim Hertweck, Philipp Klöppner +6
Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that t…
dm_control: Software and Tasks for Continuous Control
Yuval Tassa, Saran Tunyasuvunakool, Alistair Muldal +8
The dm_control software package is a collection of Python libraries and task suites for reinforcement learning agents in an articulated-body simulation. A MuJoCo wrapper provides c…
Catch & Carry: Reusable Neural Controllers for Vision-Guided Whole-Body Tasks
Josh Merel, Saran Tunyasuvunakool, Arun Ahuja +6
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This…
Emergent Coordination Through Competition
Siqi Liu, Guy Lever, Josh Merel +3
We study the emergence of cooperative behaviors in reinforcement learning agents by introducing a challenging competitive multi-agent soccer environment with continuous simulated p…
Hierarchical visuomotor control of humanoids
Josh Merel, Arun Ahuja, Vu Pham +5
We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioc…
Reinforcement and Imitation Learning for Diverse Visuomotor Skills
Yuke Zhu, Ziyu Wang, Josh Merel +8
We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to r…
End Point of the Ultraspinning Instability and Violation of Cosmic Censorship
Pau Figueras, Markus Kunesch, Luis Lehner +1
We determine the end point of the axisymmetric ultraspinning instability of asymptotically flat Myers-Perry black holes in D = 6 spacetime dimensions. In the non-linear regime, thi…
Dimensional reduction in numerical relativity: Modified cartoon formalism and regularization
William G. Cook, Pau Figueras, Markus Kunesch +2
We present in detail the Einstein equations in the Baumgarte-Shapiro-Shibata-Nakamura formulation for the case of dimensional spacetimes with isometry based on a meth…
End Point of Black Ring Instabilities and the Weak Cosmic Censorship Conjecture
Pau Figueras, Markus Kunesch, Saran Tunyasuvunakool
We produce the first concrete evidence that violation of the weak cosmic censorship conjecture can occur in asymptotically flat spaces of five dimensions by numerically evolving pe…
GRChombo : Numerical Relativity with Adaptive Mesh Refinement
Katy Clough, Pau Figueras, Hal Finkel +3
In this work, we introduce GRChombo: a new numerical relativity code which incorporates full adaptive mesh refinement (AMR) using block structured Berger-Rigoutsos grid generation.…
Black rings in global anti-de Sitter space
Pau Figueras, Saran Tunyasuvunakool
We construct five dimensional black rings in global anti-de Sitter space using numerical methods. These rings satisfy the BPS bound , but the angular velocity alway…
Localized Plasma Balls
Pau Figueras, Saran Tunyasuvunakool
In this paper we numerically construct localised black hole solutions at the IR bottom of the confining geometry of the AdS soliton. These black holes should be thought as the fini…
CFTs in rotating black hole backgrounds
Pau Figueras, Saran Tunyasuvunakool
We use AdS/CFT to construct the gravitational dual of a 5D CFT in the background of a non-extremal rotating black hole. Our boundary conditions are such that the vacuum state of th…