There will be an IPAB Workshop on Thursday the 11th January at 12:45 - 13:45 held in conference room 4.31/33. Jan Stanciewicz and Chuanyu Yang will be speaking.
Pastries will be available.
Speaker: Jan Stanciewicz
Title: Quadrotors as a model for the study of dragonfly hunting behaviour
Abstract: Dragonflies are highly successful predators capable of identifying and intercepting their prey on the wing. In this talk I will discuss the mechanisms involved in this behaviour and outline how we hope to gain further insight by modelling their strategy with a quadcopter.
Speaker: Chuanyu Yang
Title: Emergence of Human-comparable Balancing Behaviours by Deep Reinforcement Learning
Abstract: We present a hierarchical framework based on deep reinforcement learning that naturally acquires control policies that are capable of performing balancing behaviours such as ankle push-offs for humanoid robots, without explicit human design of controllers. Only the reward for training the neural network is specifically formulated based on the physical principles and quantities, and hence explainable. The successful emergence of human-comparable behaviours through the deep reinforcement learning demonstrates the feasibility of using an AI-based approach for humanoid motion control in a unified framework. Moreover, the balance strategies learned by reinforcement learning provides a larger range of disturbance rejection than that of the zero moment point based methods, suggesting a research direction of using learning-based controls to explore the optimal performance.