173 citations · 237 across the 5 of their papers we have counts for
3 papers · 1 filter
A Comparison of Action Spaces for Learning Manipulation Tasks
Patrick Varin, Lev Grossman, Scott Kuindersma
Designing reinforcement learning (RL) problems that can produce delicate and precise manipulation policies requires careful choice of the reward function, state, and action spaces.…
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg +3
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions…
Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged Microrobot
Neel Doshi, Kaushik Jayaram, Samantha Castellanos +2
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Rece…