The paper Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing was accepted to the International Conference on Robotics and Automation (ICRA).
Paper published in Science Robotics
Posted on January 20, 2019
Learning Agile and Dynamic Motor Skills for Legged Robots was published in Science Robotics. The paper introduces a method for training a neural network policy in simulation and transferring it to a state-of-the-art legged system. The approach is applied to the ANYmal robot, a sophisticated medium-dog–sized quadrupedal machine. Using policies trained in simulation, the robot achieves locomotion skills that go beyond what had been achieved with prior methods: ANYmal is capable of precisely and energy-efficiently following high-level body velocity commands, running faster than before, and recovering from falling even in complex configurations.