Jun Takamatsu

Morphological symmetry-aware generalized policy network for deep reinforcement learning

Ryo Hakoda, Yubin Liu, Matthew Hwang, Yoshihiro Sato, Jun Takamatsu, Katsushi Ikeuchi, et al.

Exploiting the morphological symmetry of robotic systems, such as humanoid and quadruped robots, is a promising direction for improving robot learning. In deep reinforcement learning (DRL) for robot control, prior studies have leveraged such symmetry to improve learning efficienc…Read more