EFGCL adds external assistive forces during RL training to let legged robots physically experience successful dynamic motions early, accelerating learning of jumps and flips by about 2x and enabling behaviors conventional methods cannot acquire.
Guided reinforcement learning: A review and evaluation for efficient and effective real-world robotics [survey]
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CubeDAgger upgrades EnsembleDAgger with threshold regularization, optimal consensus switching, and colored noise injection to enable stable interactive imitation learning in dynamic systems, validated in simulation and real-robot scooping with 30 minutes of expert interaction.
citing papers explorer
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EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning
EFGCL adds external assistive forces during RL training to let legged robots physically experience successful dynamic motions early, accelerating learning of jumps and flips by about 2x and enabling behaviors conventional methods cannot acquire.
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CubeDAgger: Interactive Imitation Learning for Dynamic Systems with Efficient yet Low-risk Interaction
CubeDAgger upgrades EnsembleDAgger with threshold regularization, optimal consensus switching, and colored noise injection to enable stable interactive imitation learning in dynamic systems, validated in simulation and real-robot scooping with 30 minutes of expert interaction.