61 citations · 93 across the 8 of their papers we have counts for
7 papers · 1 filter
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
Daniel Harnack, Christoph Lüth, Lukas Gross +2
Generating physical movement behaviours from their symbolic description is a long-standing challenge in artificial intelligence (AI) and robotics, requiring insights into numerical…
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
Raghav Soni, Daniel Harnack, Hannah Isermann +3
Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has…
AcroMonk: A Minimalist Underactuated Brachiating Robot
Mahdi Javadi, Daniel Harnack, Paula Stocco +4
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is inte…
Quantifying the Effect of Feedback Frequency in Interactive Reinforcement Learning for Robotic Tasks
Daniel Harnack, Julie Pivin-Bachler, Nicolás Navarro-Guerrero
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is intera…
Feature Disentanglement of Robot Trajectories
Matias Valdenegro-Toro, Daniel Harnack, Hendrik Wöhrle
Modeling trajectories generated by robot joints is complex and required for high level activities like trajectory generation, clustering, and classification. Disentagled representa…
A Development Cycle for Automated Self-Exploration of Robot Behaviors
Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle +7
In this paper we introduce Q-Rock, a development cycle for the automated self-exploration and qualification of robot behaviors. With Q-Rock, we suggest a novel, integrative approac…
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
Felix Wiebe, Shivesh Kumar, Daniel Harnack +3
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theore…