96 citations · 369 across the 74 of their papers we have counts for
12 papers · 1 filter
Gait Library Synthesis for Quadruped Robots via Augmented Random Search
Sashank Tirumala, Aditya Sagi, Kartik Paigwar +5
In this paper, with a view toward fast deployment of learned locomotion gaits in low-cost hardware, we generate a library of walking trajectories, namely, forward trot, backward tr…
Hierarchical Average Reward Policy Gradient Algorithms
Akshay Dharmavaram, Matthew Riemer, Shalabh Bhatnagar
Option-critic learning is a general-purpose reinforcement learning (RL) framework that aims to address the issue of long term credit assignment by leveraging temporal abstractions.…
A Convergent Off-Policy Temporal Difference Algorithm
Raghuram Bharadwaj Diddigi, Chandramouli Kamanchi, Shalabh Bhatnagar
Learning the value function of a given policy (target policy) from the data samples obtained from a different policy (behavior policy) is an important problem in Reinforcement Lear…
Generalized Speedy Q-learning
Indu John, Chandramouli Kamanchi, Shalabh Bhatnagar
In this paper, we derive a generalization of the Speedy Q-learning (SQL) algorithm that was proposed in the Reinforcement Learning (RL) literature to handle slow convergence of Wat…
A Generalized Minimax Q-learning Algorithm for Two-Player Zero-Sum Stochastic Games
Raghuram Bharadwaj Diddigi, Chandramouli Kamanchi, Shalabh Bhatnagar
We consider the problem of two-player zero-sum games. This problem is formulated as a min-max Markov game in the literature. The solution of this game, which is the min-max payoff,…
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots
Shounak Bhattacharya, Abhik Singla, Abhimanyu +5
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped…