5 citations · 7 across the 10 of their papers we have counts for
5 papers · 1 filter
Learning Representations for Pixel-based Control: What Matters and Why?
Manan Tomar, Utkarsh A. Mishra, Amy Zhang +1
Learning representations for pixel-based control has garnered significant attention recently in reinforcement learning. A wide range of methods have been proposed to enable efficie…
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel +6
Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and…
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra +2
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline,…
Learning Control Policies for Imitating Human Gaits
Utkarsh A. Mishra
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most effi…
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo +2
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feed…