Projects
SOOT Morph Investigator
Intersection project. Introduce CV into atmospheric particle identification. Built an automatic program for batch processing electro-microscope images.
Period: Oct 2019 - Jan 2020
Pretrained Model for Bounding Gait
My first DeepRL project. Extract reflections from data trajectories to boost RL optimization.
Period: Dec 2019 - Aug 2020
Hybrid Bipedal Locomotion
DRL with humanoid locomotion. Tried to reduce NN policy’s stress by combining Raibert’s controller.
Period: Feb 2022 - Aug 2022
Learned Humanoid Locomotion
Trying to train robust locomotion policies with DRL
Period: Jan 2021 -
Minimal Learned Quadrupedal Locomotion
First project during A*STAR attachment.
Built a minimal RaiSim training environment that produces robust trotting policies that can work on real robots.
Aiming to provide a baseline for following privilege training implementations.
Period: Jul 2022 - Aug 2022
Regularized RMA
An improved implementation of RMA
Beside reappearing the teacher-student privilege training schedule, added specialized gait reward with inspiration from Peroidic Reward and control commands.
Training curriculum is also modified into a simpler version.
Trained trotting, bounding, galloping and fall recovery policies.
Period: Oct 2022 - Jan 2023