5 research outputs found
Expression and modulation and signalling of bitter taste receptors in the gastrointestinal tract
No full textModeling and simulation enabled UAV electrical power system design
No full textWith the diversity of mission capability and the associated requirement for more advanced technologies, designing modern unmanned aerial vehicle (UAV) systems is an especially challenging task. In particular, the increasing reliance on the electrical power system for delivering key aircraft functions, both electrical and mechanical, requires that a systems-approach be employed in their development. A key factor in this process is the use of modeling and simulation to inform upon critical design choices made. However, effective systems-level simulation of complex UAV power systems presents many challenges, which must be addressed to maximize the value of such methods. This paper presents the initial stages of a power system design process for a medium altitude long endurance (MALE) UAV focusing particularly on the development of three full candidate architecture models and associated technologies. The unique challenges faced in developing such a suite of models and their ultimate role in the design process is explored, with case studies presented to reinforce key points. The role of the developed models in supporting the design process is then discussed
0002
No full textDAILY PAI.0 Al.TO TIMES. TUESDAY. SEPTEMBER 8. icjoS.
First
National
Bank
DOLLARS AKD SBKSB
The toeo wbo .arc, ISO per
month eod aavea |5 ot It. lo
II per roonlo better off than
the men who oeroa 1101 per
month eod epeode ell ot It.
He hi oot oolr flaeeetallr
better off, but he le bettor off
Id character, grit eod thrift
It te Del whet you earn thet
eoonte. bet whet roa Mre.
oment:
C. B. Child,, Preeldent
J.ho DodSold. VIowPreeHeol
SB Kin,. Ceeklor.
C. S Jordan. Aeet Coeller.
DIBBCTOBS.
C. B. Child,
John DudOeld
C. I. SmIOh.
H. W. Bliokloa
Ell Bias
Dr. B. L Wllbor
J. S l.hln
WANTS
CLASSIFIED.
Wanted—Clsaa cotton rag* at
Time* office. W* pay 4 csuU a pound
Want—Tou to call up II to order
four ten and coffee. This will Insure heat quality, quick earvto* sad
correct prices. 7-19-U
Wantsd—Houses built by aa
one wbo will take lota la exchange
for labor and matsrial. Address
O. Box 119. Palo Alto. l-.-ln
Wanted—To trade lots for Income
property: wtll make good proposition. Address P. O. Box 119. Palo
Alto. l-il-lm*
Wantsd—Experienced dressmakers.
Apply Fraser A Co., room 1. over
■tore. 9-1 -It
Wantsd — Appcnticss to lesrn
high-class drsssmsklng. Apply Fts-
eer A Co.. room 9, over stors. 9-1*61
Wanted—Olrl for general housework, wage* 110. Apply 181 Addison avenue 9-1-lW*
Wanted—Young lady wishes to do
stenography, typewriting or bookkeeping during portion of tbe day.
Will do office work or piecework.
Apply Times office, box II. 9-1-dw*
Wsnted—Otrl to do general
housework. Apply at 1ST Byron
street, corner Everett avenue
9-5-1t
Wanted—To purchase light bag
gy In good repair. Box 131 Stanford University. ••6-lt*
Sea Beach Hotel
SANTA CHI'S.
Situated ob a bluf wlthla one hundred feet of tbe finest bathing bench
o- tha Pacific Const, and wlthla tee
minute*' walk of ths largsst and Snout bathing pavilion in California.
Oood bosiing. bathlalg and nshiag
Beautiful coast and mountain drivss-
J. 4. t'
For Rsnt—Furnlehsd room* st
111 Evsrett. Apply to Mr. Stanton
at strestcar powerhonse. 7-t**-tf
For Rent— In Evergreen Park
partly furnished two-story house and
bungalow In rear; very homelike,
modern place Inquire Dr. Moyer,
Mayfleld. 9-1-lw
"Furnished Rooma" window cards
at Times office, le.
Camp Yosemite
HAH CIROWN FROM A IrOstatV TO
TWO 11UNHRED AhTD TVTTf
TKMK IN A FEW YK ARS. WHY?
r»k your frisnds sbont it. Ratss,
M a day. 111.II per week, nnd ISO
by ths month; undsr Ssntlnsl Hotel
maaagemsBL For further Information or for ressr rations address J. U.
Cook. Yosemite. California
HAVE YOU
MOVED?
V
es,
Palo Alto Transfer Co.
' MOVED MB AXD THEY ARM SO
AGREEABLE AXD AOCOMMODAT-
TXO THAT I WILL
[TO TOO.
For Rent—Delightful rooms, well
furnished, for hou**k*eplng. E
quire Ml Homer 1-11-Ira
For Rent—Centrslly located unfurnished apartment, six rooms and
be!).. 110. Fnmtahad apartment,
eight rooma and bath. 110. House
suitable for school or frat bous*. ten
bedrooms, sitting room, dining room,
kitchen, servant'! room, laundry.
stable, furnished If desired. Cell Up
phono 191T. 1-lS-tf
For Rsot—Ssven-room house
with large sunny rooms st 714 ("ban-
Blag avenue. For further Information apply to 431 Kipling street
i-n-ti
For Rent— Seven-room cottage,
furnished or unfurnished: close In:
rest reasonable Enquire 141 Webster street or telephone Palo Alto
j 14 3. 9-1-tf
"Furnished Rooms" window cards
■ at Tims* offl. e. fie.
i For Rent Eight -room t.nngalow
j Telephone 291K. ,-31-lw
For Rent — Two snltss ol
; pleasant housekeeping rooms, three
' rooms each, at the Bishop [
j .'.!'■ Waverley street, ni-ar I'Bi.erslly-i
; avenue Sunny bay window Ib snch
j suite; fireplace, gas and other con-
! venlences Prios 111.SO and 111,
9-1-lw*
■ Furnished flats, bargains. Tin
{ and 718 Bryant street; 109 Alms
street ft-ll-lm-
For Rent -Furnished. unfurnished and housekeeping room*.
468 University avenue. 9-i>«lt*
PALO ALTO MAN
MEETS SUCCESS
D. A. Curry Entertains 1 700 Guests
at His Camp in Yosemite—
Plans Eastern Trip
D. A. Curry, who rev*)* la th*
double sobriquet of Curry of Palo
Alto aad Curry of Yosemite. baa
closed another successful season st
his csmp In the Yosemite snd Is
gathering up the loose ends ot his
business Ib 1't.lo Alto. Hs says he
spent about IS.004 last spring ta
tourist* on tbe top of Olscler Point,
1,300 fset above hla camp.
Many tourists from ths vicinity
of Palo Alto and Stanford University war* gueets at Camp Curry this
year. Among tbe number were
Professor* F. J, Itogsrs, 0. M.
Johnston. H. F. Blickfeldt, W. A.
lis.id A. Usury.
*
Improving his camp In the Yosemite,
and a* a result he has entertained
over 1,700 guests In csmp during i
the four-month* season. This is
For Rsnt—Plenaant snaay front
room, suitable for one or two yonng
ladle*. Apply 1047 Ramona street.
9-1-lw
Office
For Rsnt—Large honae at 710
University avenue, as a whole or In
parts, furnished or unfurnished Apply to Mr*. Bsggett, 9-S-6t
FURNISHED fT-ATlf APPROVED
— Three rooms sach. separate baths:
Jap* to cleao same Rice) lent locs-
tton, one block from S. P. Station.
Price $17. Apply 3*9 Alma street
9-5-1 w»
FOR 9AI.E.
525 ALMA STREET
Phone 00
MNTIIIIHnlt
Th* only branch lo Palo Alto of
ths F. Thomas Psrlslan Dye Works.
17 Tenth street. San Francisco. Is at.
169 UBlvsrslty avsnus, st the Three
Little Tailors. L J. Bloom manager
Phone 4 31X_____
rnrnltare bought and sold by W.
F. Psanebaker. Sll Enter*
Pbobs SI6X. lMf
Brad ds-Uv*red dssUy.
pare and wns.1 »-*■..or. Del
Bshrry. Phone Enrte A On . Male
S7. or Bwlkrwc A Rlaodss. TS.
Wheel Messeoger Service—Reliable and prompt. Packages etc. ds-
dlversd. Phone 114. 177 Everett
avenue. • l-H-lm* ,
Why do they sll Uhe Del Mowte
hresvd so well? Pf.o«vr Fuller A Co..
Essie A Co.. or H. 11. Spauldlng.
Delivered say srherr dsily by th*
PewlassJa llaklag Co.
For Sals—"For R*nt" or "For
Sals" window cards may be bad at
Ths Times OSes. Price 6 cents sach.
For ssl**-—o*tre*t sweepings; best
' thing for fertttlier ob gsrdens or
tree*. See B. Slmonson, 349 High
street. S-l-lm*
For Bala—Two cows, Jsrsey-Dur-
hem. Holstelo-Jeresy; pries 110.
Address Box 19. Menlo Park. Cal.
I-U-U
For Sale—Oak wood, stovswood.
four-foot wood, wood for hentsrs:
18 per cord, delivered. Peter Faber,
R. F. P. 1. Rsdwood aty, l-10-tf
For Ksle—Seven-room artistic
bungalow, close to University avo-
*«*•. nt bargain Cell 414 Middle-
field road. , . S-ll-lw
For Ssli-—Ons rubbertlrs surrey.
I steeltlrs aurrsy: 1 spring wagon
with two seats, at H. Blelbler'a, 701
High street. 9-1-lw.
Solid investment In Al real eetnte
and stock from |S00 up. Sickness:
most retire, bo agents: ao tfiller*
Largs dividends Invsstigat*. Ad-
dress Cash. P. Q twi »3 7-21-lm*
NtrTARY PVBUC always at th*
offlcs of Marshall Black. IS7 TJxnV
verslty avsaas, Tslenbcm* 171.
For Sale —Fine sli-room cottsgi*.
modern Ib every respect. Apply to
owner. 311 Byron street. 9-4-lw*
For Sole or Rent—One 9 room
bouse, two fi-room house*, furnished
or unfurnished. Apply to J.- P. *Da-
ley, IIS Emerson strsst 9-S-lt
one-fourth ths total number that
w*at Into the valley by mil nnd,
stag*.
Tbs principal Improvement In'
Curry's earap this ytrar waa a new!
office, a •parlous and comfortable*'
building, with a ten-foot veranda and
wide esves built around the stems'
of tbe 100-faot pines growing before
the door. The rhtmney and fireplace tor the offlc* was constructed
99 Ephralm Balsbsugb of I'alo Alto.
11 * 111 ft boulders from tbe Meroed river which Bows near the camp.
Ilssldsa the office bulldlog Mr.,
Curry rebuilt bl* kitchen, bekery'
and dining room ao as to accommo-!
date 1S.*> guests st table at one!
time. Instead of eeveotj.n.e. The
camp employed about thirty people:
(his summer, many of whom werej
from Palo Alto. Among the n.ra-
ber wer* Claud Morton, Joha Thore- ■
Msnnlng, C. G. AIluo, Profesaor and
Mrs, J. W. Bingham, 8. B. Snow Jr.
II. V. Poor, L. Scofietd, Miens*
I Mil 11. In-and Ella Byibse. Mlas Clara
Zeller. Miaa E. M. Lyon. Miss V.
Johnson. Lester E. Cos, Mrs. II M.
Cos. Mr*. John Lynch, Mrs.
Fred Reining and son. Charles
Reining. Dr. and Mrs T
Sydney P. Smith, Edward P.
Caabel, I- P. Vandervoort, Jsmse
Andrews, Mre. William Prtsble Lew
is, Mr*. 8. E. drove, Irving C. Lew*
is. J. W. Wright, Frank A. Hapgood,
U. W Waugb. Spot Peek, Paul M.
Ogllvle. Rev. D. T. McClelland, Rev.
II. W, Harbaugb; Mr. and Mrs. De
l,ancy Lewla. of Menlo Park; Mr.
snd Mrs. A D. Walsh. Mr. and Mrs
J F. Johnston. Edwin B. Fox and
family. David K Moore and family,
of Redwood City; Misses Dorothea
and Matilda Kuck. of Menlo Park.
Mr. and Mr*. Curry and two
daughters. Mary aad Marjorie, ac-
companlsd by Mis* Emma Logo*,
leave nest Friday for an sxtsndsd
ftcrwe at Camp Curry.
For Bale—A bay gelding. 6 years
old: bright bay. blsek points. II.I;
thoroughbred hackney, with lot* of
action; suitable for single broughsm
or Victoria: thoroughly broken, absolutely fearless Vet's Inspection invited. Will glvf trial. Apply H. J
box 114. Hurllngame. 9-fi-lta
ton. Alb«rt Coddlflgtoo. Mr. sod
Mrs. O. L. Stevenson. Horroughs
St.v.-nson, Misses Sarah and Matilda Bunnell, Mr. and Mrs. Leonard
Brown, Mr*. 8. W. Rtheredge. Mis*
Emma Logue. Mrs, Susie Chappell.
Mlas Amy Chappell and Mrs. Ouy C.
Miller.
This year complete* the tenth-,
year of Csmp Curry. Its present
popularity ts due to tbe hundreds
wbo bsv* enjoyed Curry's hospitality the Isst ten summers, and who
have heard Curry's loud bellow
when be chose to converse with
• i
eastern trip. Ob (he list Instsnt
they will mend tbe golden wedding
of Mr. 'Carry's pereate et Winchester. Kss Lster they wilt visit thslr
alma mater, the state university of
Indians, st Bloomlngton. and will
visit relatives at other points In In-
dlsns. Ohio and Pennsylvania. Part
of the trip will be by water—down
the St. Lawrence and down tbe Hudson to New York. Their destination will be Washington, where Curry of Pslo Alto will describe Camp
Curry to tbe Presldsnt snd to th*
secretary of ths Interior.
♦ ♦♦♦♦seeesssssssss-sss s sss »♦♦♦♦♦» ♦♦»«»♦♦*♦»«.» + ♦«♦»■*
SHERMAN, CLAY & CO.
Will open a first-class
Music Store in Palo Alto,
at 183 University avenue, comer of
Emerson street, on Monday, August 31.;
We will sell for cash or on terms to
suit purchaser, fine line of
Steinway A. B. Chase Estey
Emerson Sterling
and Mendelssohn pianos.
♦ ssssss-seats****** tssssss♦■»*+■♦*■»■♦
»***»********>
eesssssssssssssssesssssseeeeeeesessssssss see *•*♦♦■♦ .
Who and How
When Palo Alto was a few
houses on a wheat field we
were The Grocers.
Ark sny of the pioneer patrons Wbo snd How
we sre.
G. W. La Peire ® Son
531 Ramona Street
Telephone) ao. e
♦ sss s *♦***->*♦*■*■■»♦■* sssssssssssessse s *♦■»*•**• s sss »»->*>♦■»
tttUMtts^ttttttttt*ttttttt«ttSttttsttUtts.ttfiMtMt|
G. H. ALLEN OIL CO.
2 We hare take, the aeeac, lor CLEVELAND HOT BLAST OIL
{ BIKNEB. eepeeiallr edeillll lor Cook Store,. Raafea aad SSS*
e mmoo. Oall el owe oaeeoo eau ee mi In operetloa. SSS HIsS
e Street. Phone IT.
UiimwiHimmiiiiiiimiiiiMiinimmmii
Hotel Virginia
Long .Beach, Cal.
The most magnificent bench hotel tn
tbe world. Absolutely BrstwoesT.
Persons from San Prancisoo and W
clnlty, upon visiting LoLa Angeles,
should not fall to stay a few days nt
this elegant hostelry. Moderate
rate*. D. M. Llnnard.
LONG nKACH. CAL,
ttttt«tt*tttttttttttttttttttt*tttttttltttttttttttt.ws.
WHITE STAR LAUNDRY
KAWA. I'roprtetor.
Only band-work Japaneee 1 sundry. Oood work a specialty. E
• Paally washing*. Tou can al ways find as at 14 4 Kmeraoa street, *
* Palo Alto.
ANGELUS HOTEL
Los Angeles, Cal.
T>lll»l»ll»»kl»lll»lllllHIHlJIT».Tl»»k»H«m»llllft
UNIVERSITY
TRANSFER
CO.
Tnuiks 35c.
Piano, el rodooed roue, none,
Moras, and eblpploj. Price, fins
00 roorlDS to eod from Sea Free
rleeo. Oeklaod eod Sao Joe.
OFFICB AT M-SINNET-I SAD
I.IJtBV. Ill UBIVEBSITT
a Vermis
Ploaa. 447Y; H.I..II 44SB.
I
Hlnrle room, 11.11 ead ss
\ Two lo room 11.11 eod 09
' Sltoetad corner Foarta ssS
' Spring etroote. Depot cars peaa ttaa
door.
IXKIH1S BROS., I
1 McKlbbeo'e lor Doe coucbee.
MrKlbbeo'a lor mlrrore. ell price,.
.iituiwi.iimiumtj . pmt,
Palo Alto
Creamery
Sk
inner s
Seedling
Apples
Just beginning to
arrive. Finest eating apples on the
market.
FULLER & CO,!
s
Phone 51
a
I
jj-m.mtmtttsmtttts.tta
Telephone 410*..
Pnr« Milk svesl Oresss sh>
Itverwd.
hail ncmttiVhm.
(In effect June SI, 1101.)
Itecelvsd.
From Sorth —7:19 a. m., 11:49,
3:46 aad S.-fift p. m.; Sundays, T.tt
a. m.
Prom Booth—7:41, 10:50 aad
lt:t4 a. a... B:0t and «:ll p. m.;
Sundays, ?:4t and 10: £.0 a. m.
Prom Stanford University—»:li,
11 a. tn.. t and I p. m.; Soassasn.
«:ir. and 10 a. m,
■ssfasshsssss.
To North—7-18. 9:0l and 11:94
a. m., 1:11 aad f:0l p. m.; Sundays.
10:20 a. B„ 1:44 p. m.
To Sooth—1:49 a. m , 1M9, 1:19
and 4:01 p. m : Snndays. 4:49 and
10:10 s. m.
To Stanford Vntversity—T:l« snal
11:04 a. m., I:4t p. m.; Sandnyn,
7:15 end 10:44 a. m.
"Furnished Rooms" window i
at Times office, ee.
taaecrthn for the Dally Tints*
Superando la brecha de la realidad: Algoritmos de aprendizaje por imitación y por refuerzos para problemas de locomoción robótica bípeda
No full textilustraciones, diagramas, fotografíasEsta tesis presenta una estrategia de entrenamiento de robots que utiliza técnicas de aprendizaje artificial para optimizar el rendimiento de los robots en tareas complejas. Motivado por los impresionantes logros recientes en el aprendizaje automático, especialmente en juegos y escenarios virtuales, el proyecto tiene como objetivo explorar el potencial de estas técnicas para mejorar las capacidades de los robots más allá de la programación humana tradicional a pesar de las limitaciones impuestas por la brecha de la realidad.
El caso de estudio seleccionado para esta investigación es la locomoción bípeda, ya que permite dilucidar los principales desafíos y ventajas de utilizar métodos de aprendizaje artificial para el aprendizaje de robots. La tesis identifica cuatro desafíos principales en este contexto: la variabilidad de los resultados obtenidos de los algoritmos de aprendizaje artificial, el alto costo y riesgo asociado con la realización de experimentos en robots reales, la brecha entre la simulación y el comportamiento del mundo real, y la necesidad de adaptar los patrones de movimiento humanos a los sistemas robóticos.
La propuesta consiste en tres módulos principales para abordar estos desafíos: Enfoques de Control No Lineal, Aprendizaje por Imitación y Aprendizaje por Reforzamiento. El módulo de Enfoques de Control No Lineal establece una base al modelar robots y emplear técnicas de control bien establecidas. El módulo de Aprendizaje por Imitación utiliza la imitación para generar políticas iniciales basadas en datos de captura de movimiento de referencia o resultados preliminares de políticas para crear patrones de marcha similares a los humanos y factibles. El módulo de Aprendizaje por Refuerzos complementa el proceso mejorando de manera iterativa las políticas paramétricas, principalmente a través de la simulación pero con el rendimiento en el mundo real como objetivo final.
Esta tesis enfatiza la modularidad del enfoque, permitiendo la implementación de los módulos individuales por separado o su combinación para determinar la estrategia más efectiva para diferentes escenarios de entrenamiento de robots. Al utilizar una combinación de técnicas de control establecidas, aprendizaje por imitación y aprendizaje por refuerzos, la estrategia de entrenamiento propuesta busca desbloquear el potencial para que los robots alcancen un rendimiento optimizado en tareas complejas, contribuyendo al avance de la inteligencia artificial en la robótica no solo en sistemas virtuales sino en sistemas reales.The thesis introduces a comprehensive robot training framework that utilizes artificial learning techniques to optimize robot performance in complex tasks. Motivated by recent impressive achievements in machine learning, particularly in games and virtual scenarios, the project aims to explore the potential of these techniques for improving robot capabilities beyond traditional human programming.
The case study selected for this investigation is bipedal locomotion, as it allows for elucidating key challenges and advantages of using artificial learning methods for robot learning. The thesis identifies four primary challenges in this context: the variability of results obtained from artificial learning algorithms, the high cost and risk associated with conducting experiments on real robots, the reality gap between simulation and real-world behavior, and the need to adapt human motion patterns to robotic systems.
The proposed approach consists of three main modules to address these challenges: Non-linear Control Approaches, Imitation Learning, and Reinforcement Learning. The Non-linear Control module establishes a foundation by modeling robots and employing well-established control techniques. The Imitation Learning module utilizes imitation to generate initial policies based on reference motion capture data or preliminary policy results to create feasible human-like gait patterns. The Reinforcement Learning module complements the process by iteratively improving parametric policies, primarily through simulation but ultimately with real-world performance as the ultimate goal.
The thesis emphasizes the modularity of the approach, allowing for the implementation of individual modules separately or their combination to determine the most effective strategy for different robot training scenarios. By employing a combination of established control techniques, imitation learning, and reinforcement learning, the framework seeks to unlock the potential for robots to achieve optimized performances in complex tasks, contributing to the advancement of artificial intelligence in robotics.DoctoradoDoctor en ingeniería mecánica y mecatrónic
Superando la brecha de la realidad: Algoritmos de aprendizaje por imitación y por refuerzos para problemas de locomoción robótica bípeda
No full textilustraciones, diagramas, fotografíasEsta tesis presenta una estrategia de entrenamiento de robots que utiliza técnicas de aprendizaje artificial para optimizar el rendimiento de los robots en tareas complejas. Motivado por los impresionantes logros recientes en el aprendizaje automático, especialmente en juegos y escenarios virtuales, el proyecto tiene como objetivo explorar el potencial de estas técnicas para mejorar las capacidades de los robots más allá de la programación humana tradicional a pesar de las limitaciones impuestas por la brecha de la realidad.
El caso de estudio seleccionado para esta investigación es la locomoción bípeda, ya que permite dilucidar los principales desafíos y ventajas de utilizar métodos de aprendizaje artificial para el aprendizaje de robots. La tesis identifica cuatro desafíos principales en este contexto: la variabilidad de los resultados obtenidos de los algoritmos de aprendizaje artificial, el alto costo y riesgo asociado con la realización de experimentos en robots reales, la brecha entre la simulación y el comportamiento del mundo real, y la necesidad de adaptar los patrones de movimiento humanos a los sistemas robóticos.
La propuesta consiste en tres módulos principales para abordar estos desafíos: Enfoques de Control No Lineal, Aprendizaje por Imitación y Aprendizaje por Reforzamiento. El módulo de Enfoques de Control No Lineal establece una base al modelar robots y emplear técnicas de control bien establecidas. El módulo de Aprendizaje por Imitación utiliza la imitación para generar políticas iniciales basadas en datos de captura de movimiento de referencia o resultados preliminares de políticas para crear patrones de marcha similares a los humanos y factibles. El módulo de Aprendizaje por Refuerzos complementa el proceso mejorando de manera iterativa las políticas paramétricas, principalmente a través de la simulación pero con el rendimiento en el mundo real como objetivo final.
Esta tesis enfatiza la modularidad del enfoque, permitiendo la implementación de los módulos individuales por separado o su combinación para determinar la estrategia más efectiva para diferentes escenarios de entrenamiento de robots. Al utilizar una combinación de técnicas de control establecidas, aprendizaje por imitación y aprendizaje por refuerzos, la estrategia de entrenamiento propuesta busca desbloquear el potencial para que los robots alcancen un rendimiento optimizado en tareas complejas, contribuyendo al avance de la inteligencia artificial en la robótica no solo en sistemas virtuales sino en sistemas reales.The thesis introduces a comprehensive robot training framework that utilizes artificial learning techniques to optimize robot performance in complex tasks. Motivated by recent impressive achievements in machine learning, particularly in games and virtual scenarios, the project aims to explore the potential of these techniques for improving robot capabilities beyond traditional human programming.
The case study selected for this investigation is bipedal locomotion, as it allows for elucidating key challenges and advantages of using artificial learning methods for robot learning. The thesis identifies four primary challenges in this context: the variability of results obtained from artificial learning algorithms, the high cost and risk associated with conducting experiments on real robots, the reality gap between simulation and real-world behavior, and the need to adapt human motion patterns to robotic systems.
The proposed approach consists of three main modules to address these challenges: Non-linear Control Approaches, Imitation Learning, and Reinforcement Learning. The Non-linear Control module establishes a foundation by modeling robots and employing well-established control techniques. The Imitation Learning module utilizes imitation to generate initial policies based on reference motion capture data or preliminary policy results to create feasible human-like gait patterns. The Reinforcement Learning module complements the process by iteratively improving parametric policies, primarily through simulation but ultimately with real-world performance as the ultimate goal.
The thesis emphasizes the modularity of the approach, allowing for the implementation of individual modules separately or their combination to determine the most effective strategy for different robot training scenarios. By employing a combination of established control techniques, imitation learning, and reinforcement learning, the framework seeks to unlock the potential for robots to achieve optimized performances in complex tasks, contributing to the advancement of artificial intelligence in robotics.DoctoradoDoctor en ingeniería mecánica y mecatrónic
