Matches in SemOpenAlex for { <https://semopenalex.org/work/W3204133372> ?p ?o ?g. }
Showing items 1 to 82 of
82
with 100 items per page.
- W3204133372 abstract "We present a new approach for transfer of dynamic robot control policies such as biped locomotion from simulation to real hardware. Key to our approach is to perform system identification of the model parameters {mu} of the hardware (e.g. friction, center-of-mass) in two distinct stages, before policy learning (pre-sysID) and after policy learning (post-sysID). Pre-sysID begins by collecting trajectories from the physical hardware based on a set of generic motion sequences. Because the trajectories may not be related to the task of interest, presysID does not attempt to accurately identify the true value of {mu}, but only to approximate the range of {mu} to guide the policy learning. Next, a Projected Universal Policy (PUP) is created by simultaneously training a network that projects {mu} to a low-dimensional latent variable {eta} and a family of policies that are conditioned on {eta}. The second round of system identification (post-sysID) is then carried out by deploying the PUP on the robot hardware using task-relevant trajectories. We use Bayesian Optimization to determine the values for {eta} that optimizes the performance of PUP on the real hardware. We have used this approach to create three successful biped locomotion controllers (walk forward, walk backwards, walk sideways) on the Darwin OP2 robot." @default.
- W3204133372 created "2021-10-11" @default.
- W3204133372 creator A5047798223 @default.
- W3204133372 creator A5055111969 @default.
- W3204133372 creator A5067456877 @default.
- W3204133372 creator A5080399941 @default.
- W3204133372 date "2019-03-04" @default.
- W3204133372 modified "2023-09-26" @default.
- W3204133372 title "Sim-to-Real Transfer for Biped Locomotion" @default.
- W3204133372 doi "https://doi.org/10.48550/arxiv.1903.01390" @default.
- W3204133372 hasPublicationYear "2019" @default.
- W3204133372 type Work @default.
- W3204133372 sameAs 3204133372 @default.
- W3204133372 citedByCount "1" @default.
- W3204133372 countsByYear W32041333722022 @default.
- W3204133372 crossrefType "posted-content" @default.
- W3204133372 hasAuthorship W3204133372A5047798223 @default.
- W3204133372 hasAuthorship W3204133372A5055111969 @default.
- W3204133372 hasAuthorship W3204133372A5067456877 @default.
- W3204133372 hasAuthorship W3204133372A5080399941 @default.
- W3204133372 hasBestOaLocation W32041333721 @default.
- W3204133372 hasConcept C104114177 @default.
- W3204133372 hasConcept C116834253 @default.
- W3204133372 hasConcept C127413603 @default.
- W3204133372 hasConcept C146978453 @default.
- W3204133372 hasConcept C150899416 @default.
- W3204133372 hasConcept C151800584 @default.
- W3204133372 hasConcept C154945302 @default.
- W3204133372 hasConcept C173608175 @default.
- W3204133372 hasConcept C177264268 @default.
- W3204133372 hasConcept C199360897 @default.
- W3204133372 hasConcept C201995342 @default.
- W3204133372 hasConcept C204323151 @default.
- W3204133372 hasConcept C26517878 @default.
- W3204133372 hasConcept C2776175482 @default.
- W3204133372 hasConcept C2780451532 @default.
- W3204133372 hasConcept C38652104 @default.
- W3204133372 hasConcept C41008148 @default.
- W3204133372 hasConcept C42407357 @default.
- W3204133372 hasConcept C44154836 @default.
- W3204133372 hasConcept C59822182 @default.
- W3204133372 hasConcept C86803240 @default.
- W3204133372 hasConcept C90509273 @default.
- W3204133372 hasConceptScore W3204133372C104114177 @default.
- W3204133372 hasConceptScore W3204133372C116834253 @default.
- W3204133372 hasConceptScore W3204133372C127413603 @default.
- W3204133372 hasConceptScore W3204133372C146978453 @default.
- W3204133372 hasConceptScore W3204133372C150899416 @default.
- W3204133372 hasConceptScore W3204133372C151800584 @default.
- W3204133372 hasConceptScore W3204133372C154945302 @default.
- W3204133372 hasConceptScore W3204133372C173608175 @default.
- W3204133372 hasConceptScore W3204133372C177264268 @default.
- W3204133372 hasConceptScore W3204133372C199360897 @default.
- W3204133372 hasConceptScore W3204133372C201995342 @default.
- W3204133372 hasConceptScore W3204133372C204323151 @default.
- W3204133372 hasConceptScore W3204133372C26517878 @default.
- W3204133372 hasConceptScore W3204133372C2776175482 @default.
- W3204133372 hasConceptScore W3204133372C2780451532 @default.
- W3204133372 hasConceptScore W3204133372C38652104 @default.
- W3204133372 hasConceptScore W3204133372C41008148 @default.
- W3204133372 hasConceptScore W3204133372C42407357 @default.
- W3204133372 hasConceptScore W3204133372C44154836 @default.
- W3204133372 hasConceptScore W3204133372C59822182 @default.
- W3204133372 hasConceptScore W3204133372C86803240 @default.
- W3204133372 hasConceptScore W3204133372C90509273 @default.
- W3204133372 hasLocation W32041333721 @default.
- W3204133372 hasOpenAccess W3204133372 @default.
- W3204133372 hasPrimaryLocation W32041333721 @default.
- W3204133372 hasRelatedWork W1509467138 @default.
- W3204133372 hasRelatedWork W1526424163 @default.
- W3204133372 hasRelatedWork W1961973183 @default.
- W3204133372 hasRelatedWork W218113596 @default.
- W3204133372 hasRelatedWork W2187619504 @default.
- W3204133372 hasRelatedWork W2805209921 @default.
- W3204133372 hasRelatedWork W3120163718 @default.
- W3204133372 hasRelatedWork W3134765885 @default.
- W3204133372 hasRelatedWork W3202548321 @default.
- W3204133372 hasRelatedWork W4226078078 @default.
- W3204133372 isParatext "false" @default.
- W3204133372 isRetracted "false" @default.
- W3204133372 magId "3204133372" @default.
- W3204133372 workType "article" @default.