63 citations · 63 across the 4 of their papers we have counts for
7 papers
Learning Dynamic Bipedal Walking Across Stepping Stones
Helei Duan, Ashish Malik, Mohitvishnu S. Gadde +3
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem,…
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
Jeremy Dao, Kevin Green, Helei Duan +2
Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipe…
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking
Helei Duan, Ashish Malik, Jeremy Dao +5
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In orde…
Learning Task Space Actions for Bipedal Locomotion
Helei Duan, Jeremy Dao, Kevin Green +3
Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots. This prior work, however, has focused on learning…
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
Kevin Green, Yesh Godse, Jeremy Dao +3
In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically…
Learning Memory-Based Control for Human-Scale Bipedal Locomotion
Jonah Siekmann, Srikar Valluri, Jeremy Dao +4
Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcemen…