222 citations · 338 across the 24 of their papers we have counts for
7 papers · 1 filter
Learn to Navigate Maplessly with Varied LiDAR Configurations: A Support Point-Based Approach
Wei Zhang, Ning Liu, Yunfeng Zhang
Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the…
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart +2
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dyna…
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
Hua Chen, Patrick M. Wensing, Wei Zhang
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modu…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning
Hao Li, Bowen Weng, Abhishek Gupta +2
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and compl…
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid +1
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this…