3 accepted papers
In this paper, we describe the design of the Barkour benchmark for measuring robot agility in navigating complex environments. Despite the growing interest in developing agile robot locomotion skills, the field lacks systematic benchmarks to measure the performance of robotic control systems and har…
We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple “pick-and-place” solution. Our method is a reinforcement learning (RL) approach combined with vision-b…
Algorithms for self-learning systems have made considerable progress in recent years, yet safety concerns and the need for additional instrumentation have so far largely limited learning experiments with real robots to well controlled lab settings. In this paper, we demonstrate how a small bipedal r…