Learning multiple gaits of quadruped robot using hierarchical reinforcement learning

Overview

Learning multiple gaits of quadruped robot using hierarchical reinforcement learning

We propose a method to learn multiple gaits of quadruped robot using hierarchical reinforcement learning. We designed a hierarchical controller and a learning framework that could learn and show multiple gaits in a single policy. Every experiment was done in RAISIM simulator link.

Using our method, quadruped robot can learn multiple gaits including Trot, Pace, and Bound(imperfect). We further successfully learned multiple gait in a single policy using our framework. To show the existence of optimal gaits for specific velocity range, we held an analysis of mechanical energy usage for each learned gaits. Check the paper for detailed results.

Method

Result

  1. Trot

2. Pace

3. Bound (imperfect)

4. Multiple gaits in a single policy (Pace & Bound)

Cite

@inproceedings{kim2021multiplegait,
    author = {Kim, Yunho and Son, Bukun and Lee, Dongjun},
    title = {Learning multiple gaits of quadruped robot using hierarchical reinforcement learning},
    booktitle={http://arxiv.org/abs/2112.04741},
    year={2021}
}
Owner
Yunho Kim
Yunho Kim
Fortuitous Forgetting in Connectionist Networks

Fortuitous Forgetting in Connectionist Networks Introduction This repository includes reference code for the paper Fortuitous Forgetting in Connection

Hattie Zhou 14 Nov 26, 2022
git《Tangent Space Backpropogation for 3D Transformation Groups》(CVPR 2021) GitHub:1]

LieTorch: Tangent Space Backpropagation Introduction The LieTorch library generalizes PyTorch to 3D transformation groups. Just as torch.Tensor is a m

Princeton Vision & Learning Lab 482 Jan 06, 2023
Individual Treatment Effect Estimation

CAPE Individual Treatment Effect Estimation Run CAPE python train_causal.py --loop 10 -m cape_cau -d NI --i_t 1 Run a baseline model python train_cau

S. Deng 4 Sep 02, 2022
Neuron class provides LNU (Linear Neural Unit), QNU (Quadratic Neural Unit), RBF (Radial Basis Function), MLP (Multi Layer Perceptron), MLP-ELM (Multi Layer Perceptron - Extreme Learning Machine) neurons learned with Gradient descent or LeLevenberg–Marquardt algorithm

Neuron class provides LNU (Linear Neural Unit), QNU (Quadratic Neural Unit), RBF (Radial Basis Function), MLP (Multi Layer Perceptron), MLP-ELM (Multi Layer Perceptron - Extreme Learning Machine) neu

Filip Molcik 38 Dec 17, 2022
Inferred Model-based Fuzzer

IMF: Inferred Model-based Fuzzer IMF is a kernel API fuzzer that leverages an automated API model inferrence techinque proposed in our paper at CCS. I

SoftSec Lab 104 Sep 28, 2022
AtlasNet: A Papier-Mâché Approach to Learning 3D Surface Generation

AtlasNet [Project Page] [Paper] [Talk] AtlasNet: A Papier-Mâché Approach to Learning 3D Surface Generation Thibault Groueix, Matthew Fisher, Vladimir

577 Dec 17, 2022
The NEOSSat is a dual-mission microsatellite designed to detect potentially hazardous Earth-orbit-crossing asteroids and track objects that reside in deep space

The NEOSSat is a dual-mission microsatellite designed to detect potentially hazardous Earth-orbit-crossing asteroids and track objects that reside in deep space

John Salib 2 Jan 30, 2022
A Python module for parallel optimization of expensive black-box functions

blackbox: A Python module for parallel optimization of expensive black-box functions What is this? A minimalistic and easy-to-use Python module that e

Paul Knysh 426 Dec 08, 2022
The Wearables Development Toolkit - a development environment for activity recognition applications with sensor signals

Wearables Development Toolkit (WDK) The Wearables Development Toolkit (WDK) is a framework and set of tools to facilitate the iterative development of

Juan Haladjian 114 Nov 27, 2022
This repo will contain code to reproduce and build upon understanding transfer learning

What is being transferred in transfer learning? This repo contains the code for the following paper: Behnam Neyshabur*, Hanie Sedghi*, Chiyuan Zhang*.

4 Jun 16, 2021
Spatial Intention Maps for Multi-Agent Mobile Manipulation (ICRA 2021)

spatial-intention-maps This code release accompanies the following paper: Spatial Intention Maps for Multi-Agent Mobile Manipulation Jimmy Wu, Xingyua

Jimmy Wu 70 Jan 02, 2023
Multilingual Image Captioning

Multilingual Image Captioning Authors: Bhavitvya Malik, Gunjan Chhablani Demo Link: https://huggingface.co/spaces/flax-community/multilingual-image-ca

Gunjan Chhablani 32 Nov 25, 2022
Implementation of TransGanFormer, an all-attention GAN that combines the finding from the recent GanFormer and TransGan paper

TransGanFormer (wip) Implementation of TransGanFormer, an all-attention GAN that combines the finding from the recent GansFormer and TransGan paper. I

Phil Wang 146 Dec 06, 2022
Amazing-Python-Scripts - 🚀 Curated collection of Amazing Python scripts from Basics to Advance with automation task scripts.

📑 Introduction A curated collection of Amazing Python scripts from Basics to Advance with automation task scripts. This is your Personal space to fin

Avinash Ranjan 1.1k Dec 29, 2022
Txt2Xml tool will help you convert from txt COCO format to VOC xml format in Object Detection Problem.

TXT 2 XML All codes assume running from root directory. Please update the sys path at the beginning of the codes before running. Over View Txt2Xml too

Nguyễn Trường Lâu 4 Nov 24, 2022
FPSAutomaticAiming——基于YOLOV5的FPS类游戏自动瞄准AI

FPSAutomaticAiming——基于YOLOV5的FPS类游戏自动瞄准AI 声明: 本项目仅限于学习交流,不可用于非法用途,包括但不限于:用于游戏外挂等,使用本项目产生的任何后果与本人无关! 简介 本项目基于yolov5,实现了一款FPS类游戏(CF、CSGO等)的自瞄AI,本项目旨在使用现

Fabian 246 Dec 28, 2022
PyTorch implementation of ARM-Net: Adaptive Relation Modeling Network for Structured Data.

A ready-to-use framework of latest models for structured (tabular) data learning with PyTorch. Applications include recommendation, CRT prediction, healthcare analytics, and etc.

48 Nov 30, 2022
Companion code for the paper "An Infinite-Feature Extension for Bayesian ReLU Nets That Fixes Their Asymptotic Overconfidence" (NeurIPS 2021)

ReLU-GP Residual (RGPR) This repository contains code for reproducing the following NeurIPS 2021 paper: @inproceedings{kristiadi2021infinite, title=

Agustinus Kristiadi 4 Dec 26, 2021
A trusty face recognition research platform developed by Tencent Youtu Lab

Introduction TFace: A trusty face recognition research platform developed by Tencent Youtu Lab. It provides a high-performance distributed training fr

Tencent 956 Jan 01, 2023
Learning Features with Parameter-Free Layers (ICLR 2022)

Learning Features with Parameter-Free Layers (ICLR 2022) Dongyoon Han, YoungJoon Yoo, Beomyoung Kim, Byeongho Heo | Paper NAVER AI Lab, NAVER CLOVA Up

NAVER AI 65 Dec 07, 2022