2 papers
cs.LG2024
Learning Action-based Representations Using Invariance
Max Rudolph, Caleb Chuck, Kevin Black +3
Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that…
cs.RO2022
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
Daniel Marew, Misha Lvovsky, Shangqun Yu +2
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspire…