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Filtering by: Creator Siegel, Karen E. Remove constraint Creator: Siegel, Karen E. Contributor Fern, Alan Remove constraint Contributor: Fern, Alan Degree Name Master of Science (M.S.) Remove constraint Degree Name: Master of Science (M.S.)

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  • Robust Reference-Free Sim-to-Real Reinforcement Learning for Bipedal Locomotion

    Creator:
    Siekmann, Jonah A.
    Abstract:
    In recent years, model-free Deep Reinforcement Learning (RL) has become an increasingly popular alternative to more traditional model-based or optimization-based control methods in solving robotic legged locomotion. However, deploying RL in the real world can be a significant undertaking. Constructing reward functions which compel controllers to learn the desired behavior...
    Resource Type:
    Masters Thesis
    Full Text:
    compose the expected penalty, E[ρ(s, φ)]. Terms involving an expectation of a variable Ii(φ) vary over the