no code implementations • 27 Mar 2024 • Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard
In this work, we advocate for integrating constraints into robot learning and present Constraints as Terminations (CaT), a novel constrained RL algorithm.
no code implementations • 2 Aug 2023 • Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères
We detail the learning procedure and method for transfer on the real robot.
1 code implementation • 30 Sep 2019 • Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation.
Robotics