Learning Controller Gains on Bipedal Walking Robots via User Preferences
Noel Csomay-Shanklin,Maegan Tucker,Min Dai,Jenna Reher,Aaron D. Ames,Noel Csomay-Shanklin,Maegan Tucker,Min Dai,Jenna Reher,Aaron D. Ames
Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter values and the resulting behavior of the system. Even when such knowledge is possessed, it can take significant effort to navigate the nonintuitive landscape of ...
