TechcraftingAI Robotics

Ep. 53 - December 17, 2023

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Robotics research summaries from arXiv for December 17, 2023. You can find summaries and links to each article ⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠here⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠⁠.


Today's Themes (AI Generated)

  • Efficient generation of open-loop stable limit cycles for legged robots using constrained optimization and direct transcription to NLP.
  • Combining trajectory optimization and reinforcement learning for efficient, data-efficient solving of optimal control problems.
  • Using Sobolev learning with critics to enrich training data and improve sample efficiency in actor-critic methods.
  • Spectral radius formulations for ensuring open-loop stability of limit cycles.
  • Using policy networks to warm start trajectory optimization and close the loop between model-based and model-free methods.
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    TechcraftingAI RoboticsBy Brad Edwards