Numerical recipes in C: the art of scientific computing
Numerical recipes in C: the art of scientific computing
An introduction to genetic algorithms
An introduction to genetic algorithms
Q2: Memory-Based Active Learning for Optimizing Noisy Continuous Functions
ICML '98 Proceedings of the Fifteenth International Conference on Machine Learning
A Nonparametric Approach to Noisy and Costly Optimization
ICML '00 Proceedings of the Seventeenth International Conference on Machine Learning
Omnidirectional Locomotion for Quadruped Robots
RoboCup 2001: Robot Soccer World Cup V
Infinite-horizon policy-gradient estimation
Journal of Artificial Intelligence Research
Using inaccurate models in reinforcement learning
ICML '06 Proceedings of the 23rd international conference on Machine learning
Legged robot gait locus generation based on genetic algorithms
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Evolutionary Function Approximation for Reinforcement Learning
The Journal of Machine Learning Research
Empirical Studies in Action Selection with Reinforcement Learning
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
A study of mechanisms for improving robotic group performance
Artificial Intelligence
The Chin Pinch: A Case Study in Skill Learning on a Legged Robot
RoboCup 2006: Robot Soccer World Cup X
Autonomous Learning of Ball Trapping in the Four-Legged Robot League
RoboCup 2006: Robot Soccer World Cup X
Autonomous Learning of Stable Quadruped Locomotion
RoboCup 2006: Robot Soccer World Cup X
Learning in a High Dimensional Space: Fast Omnidirectional Quadrupedal Locomotion
RoboCup 2006: Robot Soccer World Cup X
Towards a Methodology for Stabilizing the Gaze of a Quadrupedal Robot
RoboCup 2006: Robot Soccer World Cup X
Automatic Acquisition of Robot Motion and Sensor Models
RoboCup 2006: Robot Soccer World Cup X
Layered Learning for a Soccer Legged Robot Helped with a 3D Simulator
RoboCup 2007: Robot Soccer World Cup XI
Transferring Instances for Model-Based Reinforcement Learning
ECML PKDD '08 Proceedings of the European conference on Machine Learning and Knowledge Discovery in Databases - Part II
Policy gradient learning for a humanoid soccer robot
Robotics and Autonomous Systems
An empirical analysis of value function-based and policy search reinforcement learning
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
Sample-efficient evolutionary function approximation for reinforcement learning
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Improving reinforcement learning function approximators via neuroevolution
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 4
Automatic gait optimization with Gaussian process regression
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Stereo vision and terrain modeling for quadruped robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CPG driven locomotion control of quadruped robot
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Reducing trials by thinning-out in skill discovery
DS'07 Proceedings of the 10th international conference on Discovery science
Finding and transferring policies using stored behaviors
Autonomous Robots
MARIOnET: motion acquisition for robots through iterative online evaluative training
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
A review of gait optimization based on evolutionary computation
Applied Computational Intelligence and Soft Computing - Special issue on theory and applications of evolutionary computation
Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach
Robotics and Autonomous Systems
On optimizing interdependent skills: a case study in simulated 3D humanoid robot soccer
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
Portable autonomous walk calibration for 4-legged robots
Applied Intelligence
Robot learning from demonstration by constructing skill trees
International Journal of Robotics Research
CPG modulation for navigation and omnidirectional quadruped locomotion
Robotics and Autonomous Systems
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
Humanoid robots learning to walk faster: from the real world to simulation and back
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Variable risk control via stochastic optimization
International Journal of Robotics Research
Reinforcement learning algorithms with function approximation: Recent advances and applications
Information Sciences: an International Journal
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For a robot, the ability to get from one place to another is one of the most basic skills. However, locomotion on legged robots is a challenging multidimensional control problem. This paper presents a machine learning approach to legged locomotion, with all training done on the physical robots. The main contributions are a specification of our fully automated learning environment and a detailed empirical comparison of four different machine learning algorithms for learning quadrupedal locomotion. The resulting learned walk is considerably faster than all previously reported hand-coded walks for the same robot platform.