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We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both memory and prior knowledge to the controller.
Evolving neural networks through augmenting topologies
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Spiking neuron models: Single neurons, populations, plasticity
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Central pattern generators for locomotion control in animals and robots: a review
A. J. Ijspeert · 2008
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Controlling tensegrity robots through evolution
A. Iscen, A. Agogino, V. SunSpiral, and K. Tumer · 2013
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Learning robot gait stability using neural networks as sensory feedback function for central pattern generators
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Learning bicycle stunts
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Bayesian optimization for learning gaits under uncertainty
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Neural architecture search with reinforcement learning
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F. P. Such, V. Madhavan, E. Conti, J. Lehman, K. O. Stanley, and J. Clune · 2017
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Emergence of locomotion behaviours in rich environments
N. Heess, D. TB, S. Sriram, J. Lemmon, J. Merel, G. Wayne, Y. Tassa, T. Erez, Z. Wang, S. M. A. Eslami, M. A. Riedmiller, and D. Silver · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Large-scale evolution of image classifiers
E. Real, S. Moore, A. Selle, S. Saxena, Y. L. Suematsu, J. Tan, Q. Le, and A. Kurakin · 2017
Simple random search provides a competitive approach to reinforcement learning
H. Mania, A. Guy, and B. Recht · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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Mode-adaptive neural networks for quadruped motion control
H. Zhang, W. Starke, T. Komura, and J. Saito · 2018
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Phase-parametric policies for reinforcement learning in cyclic environments
A. Sharma and K. M. Kitani · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
X. B. Peng, P. Abbeel, S. Levine, and M. van de Panne · 2018
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Phase-functioned neural networks for character control
D. Holden, T. Komura, and J. Saito · 2017
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Optimizing simulations with noise-tolerant structured exploration
K. Choromanski, A. Iscen, V. Sindhwani, J. Tan, and E. Coumans · 2018
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PyBullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2018
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Simple random search provides a competitive approach to reinforcement learning
H. Mania, A. Guy, and B. Recht · 2018
Later among the works it cites.