@inproceedings{baltes23rie,
author = {Baltes, Jacky and Gerndt, Reinhard and Saeedvand, Saeed and Sadeghnejad, Soroush and Čížek, Petr and Faigl, Jan},
title = {Learning Through Competitions - The FIRA Youth Mission Impossible Competition},
booktitle = {International Conference on Robotics in Education (RiE)},
pages = {383–394},
year = {2023},
doi = {10.1007/978-3-031-38454-7_31},
}
Learning Complex Motion Planning Policies
Duration: 2021–2023Description
In the project, we aim to address motion planning for robotic systems such as multi-legged walking in complex tasks of traversing unstructured terrain or climbing a wall. The proposed approach is to exploit the capabilities of learnable locomotion controllers to build a set of locomotion skills applicable in complex motion tasks. We plan to investigate biologically inspired locomotion control based on the coupling of neural oscillators to develop neural-based locomotion controllers with high plasticity capable of learning multiple gaits. We further plan to employ precise motion planning to synthesis motion planning policies using learning techniques such as hierarchical temporal memory. Complementary, we propose to combine global, less accurate models with a more precise local model using inter-basin actions and employ methods of deep reinforcement learning to provide smooth transitions between locally stable regions of individual motion controllers. We aim to establish complex analyses of the proposed approaches and experimentally verify them in scenarios with real robotic systems.
Related publications
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Baltes, Jacky and Gerndt, Reinhard and Saeedvand, Saeed and Sadeghnejad, Soroush and Čížek, Petr and Faigl, Jan: Learning Through Competitions - The FIRA Youth Mission Impossible Competition, International Conference on Robotics in Education (RiE), 2023, pp. 383–394.
picture_as_pdfPDF linkurl text_snippetBibTeX -
Feber, Jan and Szadkowski, Rudolf and Faigl, Jan: Gait Genesis Through Emergent Ordering of RBF Neurons on Central Pattern Generator for Hexapod Walking Robot, Conference Information Technologies - Applications and Theory (ITAT), 2021, pp. 114-122.
picture_as_pdfPDF text_snippetBibTeX@inproceedings{feber21itat, author = {Feber, Jan and Szadkowski, Rudolf and Faigl, Jan}, title = {Gait Genesis Through Emergent Ordering of RBF Neurons on Central Pattern Generator for Hexapod Walking Robot}, booktitle = {Conference Information Technologies - Applications and Theory (ITAT)}, pages = {114-122}, year = {2021}, doi = {}, } -
Feber, Jan and Szadkowski, Rudolf and Faigl, Jan: Gait Adaptation After Leg Amputation of Hexapod Walking Robot Without Sensory Feedback, International Conference on Artificial Neural Networks (ICANN), 2022, pp. 656–667.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{feber22icann, author = {Feber, Jan and Szadkowski, Rudolf and Faigl, Jan}, title = {Gait Adaptation After Leg Amputation of Hexapod Walking Robot Without Sensory Feedback}, booktitle = {International Conference on Artificial Neural Networks (ICANN)}, pages = {656–667}, year = {2022}, doi = {10.1007/978-3-031-15934-3_54}, } -
Kubík, Jiří and Szadkowski, Rudolf and Faigl, Jan: Learning-based Detection of Leg-Surface Contact using Position Feedback Only, IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2022, pp. 1–4.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{kubik22etfa, author = {Kubík, Jiří and Szadkowski, Rudolf and Faigl, Jan}, title = {Learning-based Detection of Leg-Surface Contact using Position Feedback Only}, booktitle = {IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)}, pages = {1–4}, year = {2022}, doi = {10.1109/ETFA52439.2022.9921720}, } -
Kubík, Jiří and Faigl, Jan: Learning-based Leg Contact Detection using Position Feedback Only, Conference Information Technologies - Applications and Theory (ITAT), 2023, pp. .
picture_as_pdfPDF text_snippetBibTeX@inproceedings{kubik23itat, author = {Kubík, Jiří and Faigl, Jan}, title = {Learning-based Leg Contact Detection using Position Feedback Only}, booktitle = {Conference Information Technologies - Applications and Theory (ITAT)}, pages = {}, year = {2023}, doi = {}, } -
Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Zelinka, Josef and Faigl, Jan: Terrain Traversal Cost Learning with Knowledge Transfer Between Multi-legged Walking Robot Gaits, 2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2022, pp. 148–153.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{pragr22icarsc, author = {Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Zelinka, Josef and Faigl, Jan}, title = {Terrain Traversal Cost Learning with Knowledge Transfer Between Multi-legged Walking Robot Gaits}, booktitle = {2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)}, pages = {148–153}, year = {2022}, doi = {10.1109/ICARSC55462.2022.9784790}, } -
Szadkowski, Rudolf and Faigl, Jan: Hexapod Gait Control Through Internal Model Belief Update, International Symposium on Adaptive Motion of Animals and Machines, 2023, pp. 107–108.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{szadkowski23amam, author = {Szadkowski, Rudolf and Faigl, Jan}, title = {Hexapod Gait Control Through Internal Model Belief Update}, booktitle = {International Symposium on Adaptive Motion of Animals and Machines}, pages = {107–108}, year = {2023}, doi = {10.18910/92290}, } -
Szadkowski, Rudolf and Nazeer, Muhammad Sunny and Cianchetti, Matteo and Falotico, Egidio and Faigl, Jan: Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm, IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 2669–2675.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{szadkowski23icra, author = {Szadkowski, Rudolf and Nazeer, Muhammad Sunny and Cianchetti, Matteo and Falotico, Egidio and Faigl, Jan}, title = {Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, pages = {2669–2675}, year = {2023}, doi = {10.1109/ICRA48891.2023.10160579}, } -
Szadkowski, Rudolf and Faigl, Jan: Interpretable Active Inference Gait Control Learning, IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. –.
picture_as_pdfPDF text_snippetBibTeX@inproceedings{szadkowski25icra, author = {Szadkowski, Rudolf and Faigl, Jan}, title = {Interpretable Active Inference Gait Control Learning}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, pages = {–}, year = {2025}, doi = {}, } -
Szadkowski, Rudolf and Faigl, Jan: Lifelong Active Inference of Gait Control, IEEE Transactions on Neural Networks and Learning Systems, :1-12, 2025.
picture_as_pdfPDF linkurl text_snippetBibTeX@article{szadkowski25tnnls, author = {Szadkowski, Rudolf and Faigl, Jan}, title = {Lifelong Active Inference of Gait Control}, journal= {IEEE Transactions on Neural Networks and Learning Systems}, volume= {}, number= {}, pages = {1-12}, year = {2025}, doi = {10.1109/TNNLS.2025.3579814}, } -
Valouch, David and Faigl, Jan: Gait-Free Planning for Hexapod Walking Robot, European Conference on Mobile Robots (ECMR), 2021, pp. 1–8.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{valouch21ecmr, author = {Valouch, David and Faigl, Jan}, title = {Gait-Free Planning for Hexapod Walking Robot}, booktitle = {European Conference on Mobile Robots (ECMR)}, pages = {1–8}, year = {2021}, doi = {10.1109/ECMR50962.2021.9568834}, } -
Valouch, David and Faigl, Jan: Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bézier Parametrization, European Conference on Mobile Robots (ECMR), 2023, pp. 1–5.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{valouch23ecmr, author = {Valouch, David and Faigl, Jan}, title = {Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bézier Parametrization}, booktitle = {European Conference on Mobile Robots (ECMR)}, pages = {1–5}, year = {2023}, doi = {10.1109/ECMR59166.2023.10256284}, } -
Valouch, David and Faigl, Jan: Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot, IEEE Robotics and Automation Letters, 8 (8) :5204–5211, 2023.
picture_as_pdfPDF linkurl text_snippetBibTeX@article{valouch23ral, author = {Valouch, David and Faigl, Jan}, title = {Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot}, journal= {IEEE Robotics and Automation Letters}, volume= {8}, number= {8}, pages = {5204–5211}, year = {2023}, doi = {10.1109/LRA.2023.3293749}, } -
Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan: Traversability Transfer Learning Between Robots with Different Cost Assessment Policies, 2021 Modelling and Simulation for Autonomous Systems (MESAS), 2022, pp. 333–344.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{zelinka21mesas, author = {Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan}, title = {Traversability Transfer Learning Between Robots with Different Cost Assessment Policies}, booktitle = {2021 Modelling and Simulation for Autonomous Systems (MESAS)}, pages = {333–344}, year = {2022}, doi = {10.1007/978-3-030-98260-7_21}, } -
Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan: Deep Transfer Learning of Traversability Assessment for Heterogeneous Robots, Conference Information Technologies - Applications and Theory (ITAT), 2022, pp. 12–20.
picture_as_pdfPDF text_snippetBibTeX@inproceedings{zelinka22itat, author = {Zelinka, Josef and Prágr, Miloš and Szadkowski, Rudolf and Bayer, Jan and Faigl, Jan}, title = {Deep Transfer Learning of Traversability Assessment for Heterogeneous Robots}, booktitle = {Conference Information Technologies - Applications and Theory (ITAT)}, pages = {12–20}, year = {2022}, doi = {}, }