211 citations · 432 across the 31 of their papers we have counts for
3 papers · 1 filter
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad)
Jack Collins, Ross Brown, Jürgen Leitner +1
We propose a novel iterative approach for crossing the reality gap that utilises live robot rollouts and differentiable physics. Our method, RealityGrad, demonstrates for the first…
Passing Through Narrow Gaps with Deep Reinforcement Learning
Brendan Tidd, Akansel Cosgun, Jurgen Leitner +1
The U.S. Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing sm…
Learning Setup Policies: Reliable Transition Between Locomotion Behaviours
Brendan Tidd, Nicolas Hudson, Akansel Cosgun +1
Dynamic platforms that operate over many unique terrain conditions typically require many behaviours. To transition safely, there must be an overlap of states between adjacent cont…