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cs.LG2024
Lipschitz-Regularized Critics Lead to Policy Robustness Against Transition Dynamics Uncertainty
Xulin Chen, Ruipeng Liu, Zhenyu Gan +1
Uncertainties in transition dynamics pose a critical challenge in reinforcement learning (RL), often resulting in performance degradation of trained policies when deployed on hardw…
eess.SY2024
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
Jiayu Ding, Xulin Chen, Garret E. Katz +1
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down…