3 papers
cs.RO2022
Learning Dynamic Bipedal Walking Across Stepping Stones
Helei Duan, Ashish Malik, Mohitvishnu S. Gadde +3
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem,…
cs.RO2022
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…
cs.RO2019
Zero-shot generalization using cascaded system-representations
Ashish Malik
Deep reinforcement learning has been applied to solve a variety of control problems in isolation. However, the learned latent representations cannot be optimally reused for other a…