Matches in SemOpenAlex for { <https://semopenalex.org/work/W4297578049> ?p ?o ?g. }
Showing items 1 to 86 of
86
with 100 items per page.
- W4297578049 abstract "Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of manipulators. Here, we incorporate external dynamics plans into learning-based locomotion policies for mobile manipulation. We train the base policy by applying a random wrench sequence on the robot base in simulation and adding the noisified wrench sequence prediction to the policy observations. The policy then learns to counteract the partially-known future disturbance. The random wrench sequences are replaced with the wrench prediction generated with the dynamics plans from model predictive control to enable deployment. We show zero-shot adaptation for manipulators unseen during training. On the hardware, we demonstrate stable locomotion of legged robots with the prediction of the external wrench." @default.
- W4297578049 created "2022-09-30" @default.
- W4297578049 creator A5040208292 @default.
- W4297578049 creator A5044258783 @default.
- W4297578049 creator A5047923660 @default.
- W4297578049 creator A5054076544 @default.
- W4297578049 creator A5076458868 @default.
- W4297578049 date "2022-01-11" @default.
- W4297578049 modified "2023-09-27" @default.
- W4297578049 title "Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators" @default.
- W4297578049 doi "https://doi.org/10.48550/arxiv.2201.03871" @default.
- W4297578049 hasPublicationYear "2022" @default.
- W4297578049 type Work @default.
- W4297578049 citedByCount "0" @default.
- W4297578049 crossrefType "posted-content" @default.
- W4297578049 hasAuthorship W4297578049A5040208292 @default.
- W4297578049 hasAuthorship W4297578049A5044258783 @default.
- W4297578049 hasAuthorship W4297578049A5047923660 @default.
- W4297578049 hasAuthorship W4297578049A5054076544 @default.
- W4297578049 hasAuthorship W4297578049A5076458868 @default.
- W4297578049 hasBestOaLocation W42975780491 @default.
- W4297578049 hasConcept C105339364 @default.
- W4297578049 hasConcept C111919701 @default.
- W4297578049 hasConcept C120665830 @default.
- W4297578049 hasConcept C121332964 @default.
- W4297578049 hasConcept C127413603 @default.
- W4297578049 hasConcept C133731056 @default.
- W4297578049 hasConcept C134306372 @default.
- W4297578049 hasConcept C136434205 @default.
- W4297578049 hasConcept C139807058 @default.
- W4297578049 hasConcept C154945302 @default.
- W4297578049 hasConcept C161840515 @default.
- W4297578049 hasConcept C18903297 @default.
- W4297578049 hasConcept C2775924081 @default.
- W4297578049 hasConcept C2778112365 @default.
- W4297578049 hasConcept C29302406 @default.
- W4297578049 hasConcept C33923547 @default.
- W4297578049 hasConcept C41008148 @default.
- W4297578049 hasConcept C42058472 @default.
- W4297578049 hasConcept C47446073 @default.
- W4297578049 hasConcept C54355233 @default.
- W4297578049 hasConcept C78519656 @default.
- W4297578049 hasConcept C86803240 @default.
- W4297578049 hasConcept C90509273 @default.
- W4297578049 hasConcept C97541855 @default.
- W4297578049 hasConceptScore W4297578049C105339364 @default.
- W4297578049 hasConceptScore W4297578049C111919701 @default.
- W4297578049 hasConceptScore W4297578049C120665830 @default.
- W4297578049 hasConceptScore W4297578049C121332964 @default.
- W4297578049 hasConceptScore W4297578049C127413603 @default.
- W4297578049 hasConceptScore W4297578049C133731056 @default.
- W4297578049 hasConceptScore W4297578049C134306372 @default.
- W4297578049 hasConceptScore W4297578049C136434205 @default.
- W4297578049 hasConceptScore W4297578049C139807058 @default.
- W4297578049 hasConceptScore W4297578049C154945302 @default.
- W4297578049 hasConceptScore W4297578049C161840515 @default.
- W4297578049 hasConceptScore W4297578049C18903297 @default.
- W4297578049 hasConceptScore W4297578049C2775924081 @default.
- W4297578049 hasConceptScore W4297578049C2778112365 @default.
- W4297578049 hasConceptScore W4297578049C29302406 @default.
- W4297578049 hasConceptScore W4297578049C33923547 @default.
- W4297578049 hasConceptScore W4297578049C41008148 @default.
- W4297578049 hasConceptScore W4297578049C42058472 @default.
- W4297578049 hasConceptScore W4297578049C47446073 @default.
- W4297578049 hasConceptScore W4297578049C54355233 @default.
- W4297578049 hasConceptScore W4297578049C78519656 @default.
- W4297578049 hasConceptScore W4297578049C86803240 @default.
- W4297578049 hasConceptScore W4297578049C90509273 @default.
- W4297578049 hasConceptScore W4297578049C97541855 @default.
- W4297578049 hasLocation W42975780491 @default.
- W4297578049 hasLocation W42975780492 @default.
- W4297578049 hasOpenAccess W4297578049 @default.
- W4297578049 hasPrimaryLocation W42975780491 @default.
- W4297578049 hasRelatedWork W1543503278 @default.
- W4297578049 hasRelatedWork W2166802441 @default.
- W4297578049 hasRelatedWork W2386610208 @default.
- W4297578049 hasRelatedWork W2395477878 @default.
- W4297578049 hasRelatedWork W2756604803 @default.
- W4297578049 hasRelatedWork W3005097076 @default.
- W4297578049 hasRelatedWork W3112941279 @default.
- W4297578049 hasRelatedWork W3163470622 @default.
- W4297578049 hasRelatedWork W4236975183 @default.
- W4297578049 hasRelatedWork W4324358180 @default.
- W4297578049 isParatext "false" @default.
- W4297578049 isRetracted "false" @default.
- W4297578049 workType "article" @default.