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Filtering by: Creator Turk, Greg Contributor Hurst, Jonathan

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