33 citations · 40 across the 9 of their papers we have counts for
3 papers · 1 filter
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…