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07/19/2023
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion
The main challenge in developing effective reinforcement learning (RL) p...
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08/03/2022
Learning Fast and Precise Pixel-to-Torque Control
In the field, robots often need to operate in unknown and unstructured e...
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05/25/2021
Safe Value Functions
The relationship between safety and optimality in control is not well un...
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10/07/2019
A Learnable Safety Measure
Failures are challenging for learning to control physical systems since ...
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09/30/2019
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
We present a new open-source torque-controlled legged robot system, with...
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06/21/2018
Beyond Basins of Attraction: Evaluating Robustness of Natural Dynamics
It is commonly accepted that properly designing a system to exhibit favo...
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06/18/2018