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Found 10 papers, 2 papers with code
DTC: Deep Tracking Control
Finally, we show that our proposed tracking controller generalizes across different trajectory optimization methods not seen during training.
Imitation Learning from MPC for Quadrupedal Multi-Gait Control
We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot.
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles.
Learning a State Representation and Navigation in Cluttered and Dynamic Environments
We show that decoupling the pipeline into these components results in a sample efficient policy learning stage that can be fully trained in simulation in just a dozen minutes.
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites.
Deep Value Model Predictive Control
The DMPC actor is a Model Predictive Control (MPC) optimizer with an objective function defined in terms of a value function estimated by the critic.
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
This paper addresses the problem of legged locomotion in non-flat terrain.
MPC-Net: A First Principles Guided Policy Search
Our loss function, however, corresponds to the minimization of the control Hamiltonian, which derives from the principle of optimality.
Optimal and Learning Control for Autonomous Robots
Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforcement learning for closed loop control problems from a unified point of view.
Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints.
Robotics
