{"id":4775,"date":"2023-07-14T14:19:38","date_gmt":"2023-07-14T06:19:38","guid":{"rendered":"https:\/\/inventec2.mjitec.tw\/?page_id=4775"},"modified":"2024-04-23T09:23:47","modified_gmt":"2024-04-23T01:23:47","slug":"expanding-versatility-of-agile-locomotion-through-policy-transitions-using-latent-state-representation","status":"publish","type":"page","link":"https:\/\/inventec2.mjitec.tw\/en\/ai\/expanding-versatility-of-agile-locomotion-through-policy-transitions-using-latent-state-representation\/","title":{"rendered":"Expanding Versatility of Agile Locomotion"},"content":{"rendered":"

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Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation <\/h2>\n\t <\/div><\/div>[vc_column_text css=”.vc_custom_1689315005012{margin-bottom: 20px !important;}”]<\/p>\n
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International Conference on Robotics and Automation 2023 (ICRA 2023)<\/p>\n<\/div>\n

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Authors<\/h6>\n<\/div>\n

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Guilherme Christmann*, Ying-Sheng Luo*, Jonathan Hans Soeseno*, Wei-Chao Chen<\/p>\n<\/div>\n

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Published<\/h6>\n<\/div>\n

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2023\/7\/4<\/p>\n<\/div>\n

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Abstract <\/h2>\n\t <\/div><\/div>[\/vc_column_inner][vc_column_inner el_class=”m_p” width=”2\/3″][vc_column_text]This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start with distributing the complexity of different gaits into dedicated locomotion policies applicable to real-world robots. Next, we expand the versatility of the robot by unifying the policies with robust transitions into a single coherent meta-controller by examining the latent state representations. Our approach enables the robot to iteratively expand its skill repertoire and robustly transition between any policy pair in a library. In our framework, adding new skills does not introduce any process that alters the previously learned skills. Moreover, training of a locomotion policy takes less than an hour with a single consumer GPU. Our approach is effective in the real-world and achieves a 19% higher average success rate for the most challenging transition pairs in our experiments compared to existing approaches.[\/vc_column_text][\/vc_column_inner][\/vc_row_inner][vc_row_inner content_placement=”middle” el_class=”md-full-col video_wrap”][vc_column_inner el_class=”m_p”][vc_raw_html]JTNDaWZyYW1lJTIwd2lkdGglM0QlMjIxMjQwJTIyJTIwaGVpZ2h0JTNEJTIyODAwJTIyJTIwc3JjJTNEJTIyaHR0cHMlM0ElMkYlMkZ3d3cueW91dHViZS5jb20lMkZlbWJlZCUyRmJFU3pYMjBBa3BnJTIyJTIwdGl0bGUlM0QlMjJZb3VUdWJlJTIwdmlkZW8lMjBwbGF5ZXIlMjIlMjBmcmFtZWJvcmRlciUzRCUyMjAlMjIlMjBhbGxvdyUzRCUyMmFjY2VsZXJvbWV0ZXIlM0IlMjBhdXRvcGxheSUzQiUyMGNsaXBib2FyZC13cml0ZSUzQiUyMGVuY3J5cHRlZC1tZWRpYSUzQiUyMGd5cm9zY29wZSUzQiUyMHBpY3R1cmUtaW4tcGljdHVyZSUyMiUyMGFsbG93ZnVsbHNjcmVlbiUzRSUzQyUyRmlmcmFtZSUzRQ==[\/vc_raw_html][\/vc_column_inner][\/vc_row_inner][\/vc_column][\/vc_row][vc_row][vc_column]
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Keywords<\/h2>\n

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Download<\/h3>\n

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[vc_row full_width=”stretch_row”][vc_column][vc_row_inner el_class=”md-full-col”][vc_column_inner el_class=”m_p” width=”1\/2″][vc_column_text css=”.vc_custom_1689315005012{margin-bottom: 20px !important;}”] International Conference on Robotics and Automation 2023 (ICRA 2023) [\/vc_column_text][vc_column_text css=”.vc_custom_1689316053119{margin-bottom: 5px !important;}”] Authors [\/vc_column_text][vc_column_text css=”.vc_custom_1689315023093{margin-bottom: 20px !important;}”] Guilherme Christmann*, Ying-Sheng Luo*, Jonathan Hans Soeseno*, Wei-Chao Chen [\/vc_column_text][vc_column_text css=”.vc_custom_1689316074150{margin-bottom: 5px !important;}”] Published [\/vc_column_text][vc_column_text] 2023\/7\/4 [\/vc_column_text][\/vc_column_inner][vc_column_inner el_class=”m_p” width=”1\/2″][vc_single_image image=”5023″ img_size=”full”][\/vc_column_inner][\/vc_row_inner][\/vc_column][\/vc_row][vc_row][vc_column][\/vc_column][\/vc_row][vc_row full_width=”stretch_row”][vc_column][vc_row_inner content_placement=”top” css=”.vc_custom_1657794580528{margin-bottom: 20px !important;}”][vc_column_inner el_class=”m_p paragraph_title” width=”1\/3″][\/vc_column_inner][vc_column_inner…<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":4975,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-4775","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/pages\/4775","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/comments?post=4775"}],"version-history":[{"count":1,"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/pages\/4775\/revisions"}],"predecessor-version":[{"id":68468,"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/pages\/4775\/revisions\/68468"}],"up":[{"embeddable":true,"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/pages\/4975"}],"wp:attachment":[{"href":"https:\/\/inventec2.mjitec.tw\/en\/wp-json\/wp\/v2\/media?parent=4775"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}