Mesh-based Tools to Analyze Deep Reinforcement Learning Policies for Underactuated Biped Locomotion

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2009

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2012

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C. O. Saglam and K. Byl, “Robust policies via meshing for metastable rough terrain walking,” in Proc. Robotics: Science and Systems , 2014

2014

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S. Feng, E. C. Whitman, X. Xinjilefu, and C. G. Atkeson, “Optimization-based full body control for the darpa robotics challenge,” J. Field Robotics , vol. 32, pp. 293–312, 2015

2015

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2015

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C. O. Saglam, “Tractable Quantication of Metastability for Robust Bipedal Locomotion,” PhD thesis, UCSB, 2015

2015

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S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake, “Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot,” Auton. Robots , vol. 40, no. 3, pp. 429–455, 2016

2016

Cited alongside, same era.

M. Posa, S. Kuindersma, and R. Tedrake, “Optimization and stabilization of trajectories for constrained dynamical systems,” in Proc. IEEE Int. Conf. on Robotics and Autom. (ICRA) , May 2016, pp. 1366–1373

2016

Cited alongside, same era.

A. Hereid, E. A. Cousineau, C. M. Hubicki, and A. D. Ames, “3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics,” in Proc. IEEE Int. Conf. on Robotics and Autom. (ICRA) , 2016, pp. 1447–1454

2016

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N. Heess, D. TB, S. Sriram, J. Lemmon, J. Merel, G. Wayne, Y. Tassa, T. Erez, Z. Wang, S. M. A. Eslami, M. Riedmiller, and D. Silver, “Emergence of locomotion behaviours in rich environments,” 2017

J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov, “Proximal policy optimization algorithms,” 2017

2017

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P. Dhariwal, C. Hesse, O. Klimov, A. Nichol, M. Plappert, A. Radford, J. Schulman, S. Sidor, Y. Wu, and P. Zhokhov, “OpenAI baselines,” https://github.com/openai/baselines, 2017

2017

Later among the works it cites.

G. Bellegarda, N. Talele, and K. Byl, “Nonintuitive optima for dynamic locomotion: The Acrollbot,” 05 2018, pp. 3130–3136

2018

Later among the works it cites.

N. Talele and K. Byl, “Mesh-based methods for quantifying and improving robustness of a planar biped model to random push disturbances,” in 2019 American Control Conference (ACC) , July 2019, pp. 1860–1866

2019

Closest in time.

N. Talele and K. Byl, “Methods and performance analyses for design and feedback control of efficient and robust planar biped walking,” in 2019 American Control Conference (ACC) , July 2019, pp. 4567–4572