A pair of enantiomeric 4-oxabicyclic[4.3.0]lactam derivatives, (+)- and (−)-penicilactam A ( 1 ), and one new polyketide derivative penicitrinone F ( 2 ) were isolated from the marine-derived fungus…
Preparing for the Unknown: Learning a Universal Policy with Online System Identification
UP-OSI is a robust control policy that can be used across a wide range of dynamic models, and that is also responsive to sudden changes in the environment, and holds out promise of narrowing the Reality Gap between simulated and real physical systems.
Learning symmetric and low-energy locomotion
- Wenhao Yu, Greg Turk, C. K. Liu
- Computer Science, EngineeringACM Transactions on Graphics
- 24 January 2018
A minimalist learning approach to the locomotion problem is taken, without the use of motion examples, finite state machines, or morphology-specific knowledge, to produce locomotion behaviors that are symmetric, low-energy, and much closer to that of a real person.
A Survey of Knowledge-enhanced Text Generation
A comprehensive review of the research on knowledge-enhanced text generation over the past five years is presented, which includes two parts: (i) general methods and architectures for integrating knowledge into text generation; (ii) specific techniques and applications according to different forms of knowledge data.
Policy Transfer with Strategy Optimization
- Wenhao Yu, C. K. Liu, Greg Turk
- Computer ScienceInternational Conference on Learning…
- 27 September 2018
This paper presents a different approach that leverages domain randomization for transferring control policies to unknown environments and demonstrates that this method can overcome larger modeling errors compared to training a robust policy or an adaptive policy.
Learning Novel Policies For Tasks
- Yunbo Zhang, Wenhao Yu, G. Turk
- Computer ScienceInternational Conference on Machine Learning
- 13 May 2019
This work presents a two-objective update technique for policy gradient algorithms in which each update of the policy is a compromise between improving the task reward and improving the novelty reward.
The analysis and delimitation of Central Business District using network kernel density estimation
Sim-to-Real Transfer for Biped Locomotion
- Wenhao Yu, Visak C. V. Kumar, Greg Turk, C. K. Liu
- Computer ScienceIEEE/RJS International Conference on Intelligent…
- 4 March 2019
This work presents a new approach for transfer of dynamic robot control policies such as biped locomotion from simulation to real hardware and uses Bayesian Optimization to determine the values for $\eta$ that optimize the performance of PUP on the real hardware.
Robot Learning From Randomized Simulations: A Review
- Fabio Muratore, Fabio Ramos, Greg Turk, Wenhao Yu, M. Gienger, Jan Peters
- Computer ScienceFrontiers in Robotics and AI
- 1 November 2021
A comprehensive review of sim-to-real research for robotics, focusing on a technique named “domain randomization” which is a method for learning from randomized simulations.
Dexterous Manipulation of Cloth
A new technique to synthesize dexterous manipulation of cloth by forming a model‐predictive‐control problem as a quadratic program at each time step that provides commanding forces that achieve the desired cloth motion described by the user, while respecting the kinematic constraints of the hands.