88 citations · 165 across the 15 of their papers we have counts for
12 papers · 1 filter
Designing a skilled soccer team for RoboCup: exploring skill-set-primitives through reinforcement learning
Miguel Abreu, Luis Paulo Reis, Nuno Lau
The RoboCup 3D Soccer Simulation League serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches. Our team, F…
FC Portugal 3D Simulation Team: Team Description Paper 2020
Nuno Lau, Luis Paulo Reis, David Simoes +3
The FC Portugal 3D team is developed upon the structure of our previous Simulation league 2D/3D teams and our standard platform league team. Our research concerning the robot low-l…
Robust Biped Locomotion Using Deep Reinforcement Learning on Top of an Analytical Control Approach
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +2
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This fram…
A CPG-Based Agile and Versatile Locomotion Framework Using Proximal Symmetry Loss
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +2
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face exte…
Learning Hybrid Locomotion Skills -- Learn to Exploit Residual Dynamics and Modulate Model-based Gait Control
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +3
This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external pert…
A Modular Framework to Generate Robust Biped Locomotion: From Planning to Control
Mohammadreza Kasaei, Ali Ahmadi, Nuno Lau +1
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of b…