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02/14/2023
When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots
Online footstep planning is essential for bipedal walking robots, allowi...
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12/11/2021
OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion
Muscle-actuated control is a research topic of interest spanning differe...
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09/20/2021
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model
We present a highly reactive controller which enables bipedal robots to ...
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09/09/2021
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
To achieve highly dynamic jumps of legged robots, it is essential to con...
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04/27/2021
Policy Manifold Search: Exploring the Manifold Hypothesis for Diversity-based Neuroevolution
Neuroevolution is an alternative to gradient-based optimisation that has...
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12/15/2020
Policy Manifold Search for Improving Diversity-based Neuroevolution
Diversity-based approaches have recently gained popularity as an alterna...
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10/28/2020
Learning to Represent Action Values as a Hypergraph on the Action Vertices
Action-value estimation is a critical component of many reinforcement le...
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07/01/2020
Asynchronous Real-Time Optimization of Footstep Placement and Timing in Bipedal Walking Robots
Online footstep planning is essential for bipedal walking robots to be a...
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08/08/2019
Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data
This paper addresses the problem of human body detection---particularly ...
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12/21/2018
ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction
In this work, we propose a novel mobile rescue robot equipped with an im...
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12/21/2018
Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots
One of the most important features of mobile rescue robots is the abilit...
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11/27/2018
Prioritizing Starting States for Reinforcement Learning
Online, off-policy reinforcement learning algorithms are able to use an ...
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10/23/2018
Human-centered manipulation and navigation with Robot DE NIRO
Social assistance robots in health and elderly care have the potential t...
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10/06/2018
Q-map: a Convolutional Approach for Goal-Oriented Reinforcement Learning
Goal-oriented learning has become a core concept in reinforcement learni...
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07/05/2018
Goal-oriented Trajectories for Efficient Exploration
Exploration is a difficult challenge in reinforcement learning and even ...
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11/24/2017
Action Branching Architectures for Deep Reinforcement Learning
Discrete-action algorithms have been central to numerous recent successe...
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06/03/2017
Visuospatial Skill Learning for Robots
A novel skill learning approach is proposed that allows a robot to acqui...
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04/10/2009
Intent expression using eye robot for mascot robot system
An intent expression system using eye robots is proposed for a mascot ro...
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04/10/2009
Fuzzy inference based mentality estimation for eye robot agent
Household robots need to communicate with human beings in a friendly fas...
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04/03/2009
Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning
A mechanism called Eligibility Propagation is proposed to speed up the T...
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04/03/2009
Time Hopping technique for faster reinforcement learning in simulations
This preprint has been withdrawn by the author for revision...
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04/02/2009