96 citations · 369 across the 74 of their papers we have counts for
5 papers · 1 filter
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala +7
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch…
Hindsight Experience Replay with Kronecker Product Approximate Curvature
Dhuruva Priyan G M, Abhik Singla, Shalabh Bhatnagar
Hindsight Experience Replay (HER) is one of the efficient algorithm to solve Reinforcement Learning tasks related to sparse rewarded environments.But due to its reduced sample effi…
A reinforcement learning approach to hybrid control design
Meet Gandhi, Atreyee Kundu, Shalabh Bhatnagar
In this paper we design hybrid control policies for hybrid systems whose mathematical models are unknown. Our contributions are threefold. First, we propose a framework for modelli…
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
Sashank Tirumala, Sagar Gubbi, Kartik Paigwar +6
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key pr…
A Stochastic Game Framework for Efficient Energy Management in Microgrid Networks
Shravan Nayak, Chanakya Ajit Ekbote, Annanya Pratap Singh Chauhan +5
We consider the problem of energy management in microgrid networks. A microgrid is capable of generating a limited amount of energy from a renewable resource and is responsible for…