2 citations · 9 across the 11 of their papers we have counts for
5 papers · 1 filter
Learning Agile Locomotion on Risky Terrains
Chong Zhang, Nikita Rudin, David Hoeller +1
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping sto…
Data-Efficient Task Generalization via Probabilistic Model-based Meta Reinforcement Learning
Arjun Bhardwaj, Jonas Rothfuss, Bhavya Sukhija +4
We introduce PACOH-RL, a novel model-based Meta-Reinforcement Learning (Meta-RL) algorithm designed to efficiently adapt control policies to changing dynamics. PACOH-RL meta-learns…
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Jin Jin, Chong Zhang, Jonas Frey +4
Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh envir…
MEM: Multi-Modal Elevation Mapping for Robotics and Learning
Gian Erni, Jonas Frey, Takahiro Miki +2
Elevation maps are commonly used to represent the environment of mobile robots and are instrumental for locomotion and navigation tasks. However, pure geometric information is insu…
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning
Lukas Schneider, Jonas Frey, Takahiro Miki +1
Deployment in hazardous environments requires robots to understand the risks associated with their actions and movements to prevent accidents. Despite its importance, these risks a…