IEEE - Institute of Electrical and Electronics Engineers, Inc. - Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model

Author(s): Junhyeok Ahn ; Jaemin Lee ; Luis Sentis
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2020.2990743
Regular:

In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped... View More

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