Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning

Autor: Atanassov, Vassil, Yu, Wanming, Mitchell, Alexander Luis, Finean, Mark Nicholas, Havoutis, Ioannis

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent representation

Externí odkaz: http://arxiv.org/abs/2410.07877

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design

Autor: Atanassov, Vassil, Ding, Jiatao, Kober, Jens, Havoutis, Ioannis, Della Santina, Cosimo

Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually rely on pre-existing reference trajectories obtained by capturing ani

Externí odkaz: http://arxiv.org/abs/2401.16337

Safe Model Predictive Control Approach for Non-holonomic Mobile Robots

Autor: Liu, Xinjie, Atanassov, Vassil

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically show that

Externí odkaz: http://arxiv.org/abs/2207.12878

Comparison of $pp$ and $p \bar{p}$ differential elastic cross sections and observation of the exchange of a colorless $C$-odd gluonic compound

Autor: Abazov, V. M., Abbott, B., Acharya, B. S., Adams, M., Adams, T., Agnew, J. P., Alexeev, G. D., Alkhazov, G., Alton, A., Alves, G. A., Antchev, G., Askew, A., Aspell, P., Jesus, A. C. S. Assis, Atanassov, I., Atkins, S., Augsten, K., Aushev, V., Aushev, Y., Avati, V., Avila, C., Badaud, F., Baechler, J., Bagby, L., Barrera, C. Baldenegro, Baldin, B., Bandurin, D. V., Banerjee, S., Barberis, E., Baringer, P., Barreto, J., Bartlett, J. F., Bassler, U., Bazterra, V., Bean, A., Begalli, M., Bellantoni, L., Berardi, V., Beri, S. B., Bernardi, G., Bernhard, R., Berretti, M., Bertram, I., Besanccon, M., Beuselinck, R., Bhat, P. C., Bhatia, S., Bhatnagar, V., Blazey, G., Blessing, S., Bloom, K., Boehnlein, A., Boline, D., Boos, E. E., Borchsh, V., Borissov, G., Borysova, M., Bossini, E., Bottigli, U., Bozzo, M., Brandt, A., Brandt, O., Brochmann, M., Brock, R., Bross, A., Brown, D., Bu, X. B., Buehler, M., Buescher, V., Bunichev, V., Burdin, S., Burkhardt, H., Buszello, C. P., Cafagna, F. S., Camacho-P'erez, E., Carvahlo, W., Casey, B. C. K., Castilla-Valdez, H., Catanesi, M. G., Caughron, S., Chakrabarti, S., Chan, K. M., Chandra, A., Chapon, E., Chen, G., Cho, S. W., Choi, S., Choudhary, B., Cihangir, S., Claes, D., Clutter, J., Cooke, M., Cooper, W. E., Corcoran, M., Couderc, F., Cousinou, M. -C., Csan'ad, M., Cs"orgHo, T., Cuth, J., Cutts, D., Das, A., Davies, G., Deile, M., de Jong, S. J., De La Cruz-Burelo, E., De Leonardis, F., D'eliot, F., Demina, R., Denisov, D., Denisov, S. P., Desai, S., Deterre, C., DeVaughan, K., Diehl, H. T., Diesburg, M., Ding, P. F., Dominguez, A., Doubek, M., Drutskoy, A., Druzhkin, D., Dubey, A., Dudko, L. V., Duperrin, A., Dutt, S., Eads, M., Edmunds, D., Eggert, K., Ellison, J., Elvira, V. D., Enari, Y., Eremin, V., Evans, H., Evdokimov, A., Evdokimov, V. N., Faur'e, A., Feng, L., Ferbel, T., Ferro, F., Fiedler, F., Fiergolski, A., Filthaut, F., Fisher, W., Fisk, H. E., Forthomme, L., Fortner, M., Fox, H., Franc, J., Fuess, S., Garbincius, P. H., Garcia, F., Garcia-Bellido, A., Garc'ia-Gonz'alez, J. A., Gavrilov, V., Geng, W., Georgiev, V., Gerber, C. E., Gershtein, Y., Giani, S., Ginther, G., Gogota, O., Golovanov, G., Grannis, P. D., Greder, S., Greenlee, H., Grenier, G., Gris, Ph., Grivaz, J. -F., Grohsjean, A., Gr"unendahl, S., Gr"unewald, M. W., Grzanka, L., Guillemin, T., Gutierrez, G., Gutierrez, P., Haley, J., Hammerbauer, J., Han, L., Harder, K., Harel, A., Hauptman, J. M., Hays, J., Head, T., Hebbeker, T., Hedin, D., Hegab, H., Heinson, A. P., Heintz, U., Hensel, C., La Cruz, I. Heredia-De, Herner, K., Hesketh, G., Hildreth, M. D., Hirosky, R., Hoang, T., Hobbs, J. D., Hoeneisen, B., Hogan, J., Hohlfeld, M., Holzbauer, J. L., Howley, I., Hubacek, Z., Hynek, V., Iashvili, I., Ilchenko, Y., Illingworth, R., Isidori, T., Ito, A. S., Ivanchenko, V., Jabeen, S., Jaffr'e, M., Janda, M., Jayasinghe, A., Jeong, M. S., Jesik, R., Jiang, P., Johns, K., Johnson, E., Johnson, M., Jonckheere, A., Jonsson, P., Joshi, J., Jung, A. W., Juste, A., Kajfasz, E., Karev, A., Karmanov, D., Kavspar, J., Katsanos, I., Kaur, M., Kaynak, B., Kehoe, R., Kermiche, S., Khalatyan, N., Khanov, A., Kharchilava, A., Kharzheev, Y. N., Kiselevich, I., Kohli, J. M., Kopal, J., Kozelov, A. V., Kraus, J., Kumar, A., Kundr'at, V., Kupco, A., Kurvca, T., Kuzmin, V. A., Lami, S., Lammers, S., Latino, G., Lebrun, P., Lee, H. S., Lee, S. W., Lee, W. M., Le, X., Lellouch, J., Li, D., Li, H., Li, L., Li, Q. Z., Lim, J. K., Lincoln, D., Lindsey, C., Linhart, R., Linnemann, J., Lipaev, V. V., Lipton, R., Liu, H., Liu, Y., Lobodenko, A., Lokajicek, M., Lokaj'ivcek, M. V., de Sa, R. Lopes, Losurdo, L., Rodr'iguez, F. Lucas, Luna-Garcia, R., Lyon, A. L., Maciel, A. K. A., Macr'i, M., Madar, R., na-Villalba, R. Maga, Malawski, M., Malbouisson, H. B., Malik, S., Malyshev, V. L., Mansour, J., Mart'inez-Ortega, J., McCarthy, R., McGivern, C. L., Meijer, M. M., Melnitchouk, A., Menezes, D., Mercadante, P. G., Merkin, M., Meyer, A., Meyer, J., Miconi, F., Minafra, N., Minutoli, S., Molina, J., Mondal, N. K., Da Motta, H., Mulhearn, M., Mundim, L., Naaranoja, T., Nagy, E., Narain, M., Nayyar, R., Neal, H. A., Negret, J. P., Nemes, F., Neustroev, P., Nguyen, H. T., Niewiadomski, H., Nov'ak, T., Nunnemann, T., Oguri, V., Oliveri, E., Oljemark, F., Orduna, J., Oriunno, M., Osman, N., "Osterberg, K., Pal, A., Palazzi, P., Parashar, N., Parihar, V., Park, S. K., Partridge, R., Parua, N., Pasechnik, R., Passaro, V., Patwa, A., Penning, B., Perfilov, M., Peroutka, Z., Peters, Y., Petridis, K., Petrillo, G., P'etroff, P., Pleier, M. -A., Podstavkov, V. M., Popov, A. V., Da Silva, W. L. Prado, Prewitt, M., Price, D., Proch'azka, J., Prokopenko, N., Qian, J., Quadt, A., Quinn, B., Quinto, M., Raben, T. G., Radermacher, E., Rangel, M., Radicioni, E., Ratoff, P. N., Ravotti, F., Razumov, I., Ripp-Baudot, I., Rizatdinova, F., Robutti, E., Rodrigues, R. F., Rominsky, M., Ross, A., Royon, C., Rubinov, P., Ruchti, R., Ruggiero, G., Saarikko, H., Sajot, G., Samoylenko, V. D., S'anchez-Hern'andez, A., Sanders, M. P., Santoro, A., Santos, A. S., Savage, G., Savitskyi, M., Sawyer, L., Scanlon, T., Schamberger, R. D., Scheglov, Y., Schellman, H., Schott, M., Schwanenberger, C., Schwienhorst, R., Scribano, A., Sekaric, J., Severini, H., Shabalina, E., Shary, V., Shaw, S., Shchukin, A. A., Shkola, O., Simak, V., Siroky, J., Skubic, P., Slattery, P., Smajek, J., Snoeys, W., Snow, G. R., Snow, J., Snyder, S., S"oldner-Rembold, S., Sonnenschein, L., Soustruznik, K., Stark, J., Stefaniuk, N., Stefanovitch, R., Ster, A., Stoyanova, D. A., Strauss, M., Suter, L., Svoisky, P., Szanyi, I., Sziklai, J., Taylor, C., Tcherniaev, E., Titov, M., Tokmenin, V. V., Tsai, Y. -T., Tsybychev, D., Tuchming, B., Tully, C., Turini, N., Urban, O., Uvarov, L., Uvarov, S., Uzunyan, S., Vacek, V., Van Kooten, R., van Leeuwen, W. M., Varelas, N., Varnes, E. W., Vasilyev, I. A., Vavroch, O., Verkheev, A. Y., Vertogradov, L. S., Verzocchi, M., Vesterinen, M., Vilanova, D., Vokac, P., Wahl, H. D., Wang, C., Wang, M. H. L. S., Warchol, J., Watts, G., Wayne, M., Weichert, J., Welti, J., Welty-Rieger, L., Williams, J., Williams, M. R. J., Wilson, G. W., Wobisch, M., Wood, D. R., Wyatt, T. R., Xie, Y., Yamada, R., Yang, S., Yasuda, T., Yatsunenko, Y. A., Ye, W., Ye, Z., Yin, H., Yip, K., Youn, S. W., Yu, J. M., Zennamo, J., Zhao, T. G., Zhou, B., Zhu, J., Zich, J., Zielinski, K., Zielinski, M., Zieminska, D., Zivkovic, L.

Publikováno v: Phys. Rev. Lett. 127, 062003 (2021)

We describe an analysis comparing the $p\bar{p}$ elastic cross section as measured by the D0 Collaboration at a center-of-mass energy of 1.96 TeV to that in $pp$ collisions as measured by the TOTEM Collaboration at 2.76, 7, 8, and 13 TeV using a mode

Externí odkaz: http://arxiv.org/abs/2012.03981

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