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On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots
This article studies the class of scenario-based safety testing algorithms in the black-box safety testing configuration. For …
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
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On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion
This paper presents a novel reinforcement learning (RL) framework to design cascade feedback control policies for 3D bipedal …
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang
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Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In …
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
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Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains