Siddhant Gangapurwala | DeepAI

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Featured Co-authors

Ingmar Posner
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Daniele De Martini
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Romeo Orsolino
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Luigi Campanaro
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Alexander L. Mitchell
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∙ 04/25/2023

Roll-Drop: accounting for observation noise with a single parameter

This paper proposes a simple strategy for sim-to-real in Deep-Reinforcem...

1 Luigi Campanaro, et al. ∙

∙ 09/29/2022

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Robotic locomotion is often approached with the goal of maximizing robus...

16 Siddhant Gangapurwala, et al. ∙

∙ 09/26/2022

Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization

Training deep reinforcement learning (DRL) locomotion policies often req...

1 Luigi Campanaro, et al. ∙

∙ 05/02/2022

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation

Quadruped locomotion is rapidly maturing to a degree where robots now ro...

5 Alexander L. Mitchell, et al. ∙

∙ 12/09/2021

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

Quadruped locomotion is rapidly maturing to a degree where robots now ro...

4 Alexander L. Mitchell, et al. ∙

∙ 02/25/2021

CPG-ACTOR: Reinforcement Learning for Central Pattern Generators

Central Pattern Generators (CPGs) have several properties desirable for ...

0 Luigi Campanaro, et al. ∙

∙ 12/05/2020

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

We present a unified model-based and data-driven approach for quadrupeda...

7 Siddhant Gangapurwala, et al. ∙

∙ 02/22/2020

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

Deep reinforcement learning (RL) uses model-free techniques to optimize ...

0 Siddhant Gangapurwala, et al. ∙

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