3 accepted papers
Partner diversity is known to be crucial for training a robust generalist cooperative agent. In this paper, we show that partner specialization, in addition to diversity, is crucial for the robustness of a downstream generalist agent. We propose a principled method for quantifying both the diversity…
Training a robust cooperative agent requires diverse partner agents. However, obtaining those agents is difficult. Previous works aim to learn diverse behaviors by changing the state-action distribution of agents. But, without information about the task's goal, the diversified agents are not guided…
Adaptive systems enable legged robots to cope with a wide range of environmental settings and unforeseen events. Existing reactive methods adapt either the walking frequency or the amplitude to only simple perturbations. This letter proposes an adaptive mechanism for central pattern generator (CPG)-