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Rapid Adaptation for Robot Control- [electronic resource]
![Rapid Adaptation for Robot Control - [electronic resource]](/Users/Baul/Images/book.png)
Rapid Adaptation for Robot Control- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214101644
- ISBN
- 9798380369923
- DDC
- 629.8
- 저자명
- Kumar, Ashish.
- 서명/저자
- Rapid Adaptation for Robot Control - [electronic resource]
- 발행사항
- [S.l.]: : University of California, Berkeley., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(114 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-03, Section: B.
- 주기사항
- Includes supplementary digital materials.
- 주기사항
- Advisor: Malik, Jitendra.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Berkeley, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약Once robots are deployed in the real world, they will inevitably encounter scenarios that they have never seen before. Consequently, to develop robots that can help us in routine tasks, we need to first make progress towards the problem of generalization in robotics, which asks the question: how do we get robots to handle scenarios beyond what they have seen before? This thesis will present an approach to achieve such generalization through the use of rapid adaptation. Concretely, the proposed algorithm - Rapid Motor Adaptation (RMA) - allows robots to generalize by adapting to new and unseen scenarios in fractions of a second. The proposed algorithm is developed in the context of blind quadruped walking in complex terrain in the real world. Subsequently, it is extended to quadruped walking with egocentric vision, enabling robots to cross very challenging terrains, such as stepping stones, which are beyond the reach of blind systems. The same algorithm is then applied to the task of in-hand rotation to develop a single controller capable of rotating a diverse set of objects in the real world, as well as to bipedal robots.
- 일반주제명
- Robotics.
- 일반주제명
- Biomechanics.
- 키워드
- Rapid adaptation
- 키워드
- Robot learning
- 기타저자
- University of California, Berkeley Computer Science
- 기본자료저록
- Dissertations Abstracts International. 85-03B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520240214101644
■006m o d
■007cr#unu||||||||
■020 ▼a9798380369923
■035 ▼a(MiAaPQ)AAI30633261
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aKumar, Ashish.
■24510▼aRapid Adaptation for Robot Control▼h[electronic resource]
■260 ▼a[S.l.]:▼bUniversity of California, Berkeley. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(114 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-03, Section: B.
■500 ▼aIncludes supplementary digital materials.
■500 ▼aAdvisor: Malik, Jitendra.
■5021 ▼aThesis (Ph.D.)--University of California, Berkeley, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aOnce robots are deployed in the real world, they will inevitably encounter scenarios that they have never seen before. Consequently, to develop robots that can help us in routine tasks, we need to first make progress towards the problem of generalization in robotics, which asks the question: how do we get robots to handle scenarios beyond what they have seen before? This thesis will present an approach to achieve such generalization through the use of rapid adaptation. Concretely, the proposed algorithm - Rapid Motor Adaptation (RMA) - allows robots to generalize by adapting to new and unseen scenarios in fractions of a second. The proposed algorithm is developed in the context of blind quadruped walking in complex terrain in the real world. Subsequently, it is extended to quadruped walking with egocentric vision, enabling robots to cross very challenging terrains, such as stepping stones, which are beyond the reach of blind systems. The same algorithm is then applied to the task of in-hand rotation to develop a single controller capable of rotating a diverse set of objects in the real world, as well as to bipedal robots.
■590 ▼aSchool code: 0028.
■650 4▼aRobotics.
■650 4▼aBiomechanics.
■653 ▼aDexterous manipulation
■653 ▼aLegged locomotion
■653 ▼aRapid adaptation
■653 ▼aReinforcement learning
■653 ▼aRobot learning
■690 ▼a0800
■690 ▼a0771
■690 ▼a0648
■71020▼aUniversity of California, Berkeley▼bComputer Science.
■7730 ▼tDissertations Abstracts International▼g85-03B.
■773 ▼tDissertation Abstract International
■790 ▼a0028
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16934705▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
