7 papers
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…
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
Kevin Green, John Warila, Ross L. Hatton +1
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathema…
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…
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning
Jonah Siekmann, Kevin Green, John Warila +2
Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments. Thus, it is useful to have systems that do not depend on accurate es…
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…