4 papers
Reinforcement Learning from Wild Animal Videos
Elliot Chane-Sane, Constant Roux, Olivier Stasse +1
We propose to learn legged robot locomotion skills by watching thousands of wild animal videos from the internet, such as those featured in nature documentaries. Indeed, such video…
Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt
Constant Roux, Côme Perrot, Olivier Stasse
This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achie…
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols +3
Deep Reinforcement Learning (RL) has demonstrated impressive results in solving complex robotic tasks such as quadruped locomotion. Yet, current solvers fail to produce efficient p…
How do walkers avoid a mobile robot crossing their way?
Christian Vassallo, Anne-Hélène Olivier, Philippe Souères +3
Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand ho…