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cs.RO2021★ 2 cited
Self-Imitation Learning by Planning
Sha Luo, Hamidreza Kasaei, Lambert Schomaker
Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration.…
cs.RO2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
Yijie Guo, Mingwei Zhang, Hao Dong +1
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems need…