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Arnold: A multi-task, multi-embodiment muscle transformer policy
Boshi An, Alberto Silvio Chiappa, Merkourios Simos +2
Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scientific challenge. Recent machine learning breakthroughs have heralded in-s…
KINESIS: Motion Imitation for Human Musculoskeletal Locomotion
Merkourios Simos, Alberto Silvio Chiappa, Alexander Mathis
How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-control…
Latent Exploration for Reinforcement Learning
Alberto Silvio Chiappa, Alessandro Marin Vargas, Ann Zixiang Huang +1
In Reinforcement Learning, agents learn policies by exploring and interacting with the environment. Due to the curse of dimensionality, learning policies that map high-dimensional…