5 papers
Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot
Ethan Marot, Thomas Bi, Clemens Schwarke +3
As humanoid robots become increasingly dynamic, coupling them with reinforcement learning offers a promising approach to solving the complex, underactuated mechanics of passive inl…
System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
Benjamin Bokser, Daniel Gonzalez, Aaron Preston +39
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terr…
Learning Deployable Locomotion Control via Differentiable Simulation
Clemens Schwarke, Victor Klemm, Joshua Bagajo +4
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich task…
Attention-Based Map Encoding for Learning Generalized Legged Locomotion
Junzhe He, Chong Zhang, Fabian Jenelten +3
Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds ar…
MARLadona -- Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning
Zichong Li, Filip Bjelonic, Victor Klemm +1
Robot soccer, in its full complexity, poses an unsolved research challenge. Current solutions heavily rely on engineered heuristic strategies, which lack robustness and adaptabilit…