Xinyang Geng*, Marvin Zhang*, Jonathan Bruce*, Ken Caluwaerts, Massimo Vespignani, Vytas SunSpiral, Pieter Abbeel, Sergey Levine
In ICRA, 2017.
Also, in NIPS Deep Reinforcement Learning Workshop, 2016.
We collaborated with NASA Ames to explore the challenges associated with learning locomotion strategies for tensegrity robots, a class of compliant robots that hold promise for future planetary exploration missions. We devised a novel extension of mirror descent guided policy search to learn locomotion gaits for the SUPERball tensegrity robot, both in simulationand on the physical robot.