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Learning Locomotion
Heads: Chris Atkeson, James (Drew) Bagnell, and James Kuffner
Contact: Chris Atkeson (cga@cs.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: CFR
Associated lab/group: Planning and Autonomy Lab

For more information, see this project's homepage.

This page describes CMU's participation in the DARPA Learning Locomotion Program. This program involves using a quadruped robot constructed by BDI, Little Dog, to explore learning to be more agile and robust. There are a series of tests our robot must perform.

Name - Title <Email Address>
• [Home] Chris Atkeson - Professor, RI/HCII <cga@cs.cmu.edu>
• [Home] James (Drew) Bagnell - Research Scientist <bagnell2@andrew.cmu.edu>
• Robert Dixon - Masters Student, RI <rmd@andrew.cmu.edu>
• [Home] James Kuffner - Assistant Professor <kuffner@cs.cmu.edu>
• [Home] Nathan Ratliff - PhD Student, RI <ndr@andrew.cmu.edu>
• [Home] Martin Stolle - PhD Student, RI <mstolle@andrew.cmu.edu>
• Matthew Zucker - PhD Student, RI <mzucker@andrew.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Adaptive Workspace Biasing for Sampling Based Planners
  M. Zucker, J. Kuffner, and J. Bagnell
  Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [976 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [2236 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]

• (Online) Subgradient Methods for Structured Prediction
  N. Ratliff, J. Bagnell, and M. Zinkevich
  Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007. [Abstract]
  Download: pdf [375 KB] copyrighted

• Boosting Structured Prediction for Imitation Learning
  N. Ratliff, D. Bradley, J. Bagnell, and J. Chestnutt
  Advances in Neural Information Processing Systems 19, MIT Press, Cambridge, MA, 2007. [Abstract]
  Download: pdf [847 KB] copyrighted