Deep reinforcement learning has recently emerged as an appealing alternative for legged locomotion over multiple terrains by training a policy in physical simulation and then transferring it to the real world (i.e., s...
Deep reinforcement learning has recently emerged as an appealing alternative for legged locomotion over multiple terrains by training a policy in physical simulation and then transferring it to the real world (i.e., sim-to-real transfer). Despite considerable progress, the capacity and scalability of traditional neural networks are still limited, which may hinder their applications in more complex environments. In contrast, the Transformer architecture has shown its superiority in a wide range of large-scale sequence modeling tasks, including natural language processing and decision-making problems. In this paper, we propose Terrain Transformer (TERT), a high-capacity Transformer model for quadrupedal locomotion control on various terrains. Furthermore, to better leverage Transformer in sim-to-real scenarios, we present a novel two-stage training framework consisting of an offline pretraining stage and an online correction stage, which can naturally integrate Transformer with privileged training. Extensive experiments in simulation demonstrate that TERT outperforms state-of-the-art baselines on different terrains in terms of return, energy consumption and control smoothness. In further real-world validation, TERT successfully traverses nine challenging terrains, including sand pit and stair down, which can not be accomplished by strong baselines.
A design technique for the analog triggered asynchronous clocking control technique for the pipeline ADC is presented, which is convenient for the realization of highly integrated ADCs. The analog trigger technique is...
详细信息
A design technique for the analog triggered asynchronous clocking control technique for the pipeline ADC is presented, which is convenient for the realization of highly integrated ADCs. The analog trigger technique is implemented with dynamic-power residue amplifiers such as ring amplifiers (RAMPs) inside ADC to generate the ready signal, so the asynchronous processing is realized, which solves the design problem of establishing a high-frequency clock inside the highly integrated ADCs and completes the low-power designs. simulation results of the adopted fully-differential RAMP using 130nm CMOS process models, supply of 1.2V, and clock frequency of 200MHz. Compared with the ready signal generated by the dynamic comparator in the SAR ADC, the results show that the duty cycle generated by the RAMP is 50%, and the setting up time is 114.1ps, which is more suitable for high-speed design.
Equipping a single robot with all the required sensing or actuating capabilities in dynamic and evolving missions may be infeasible due to energy and payload constraints. Large teams of heterogeneous robots may combin...
详细信息
ISBN:
(数字)9781665495127
ISBN:
(纸本)9781665495134
Equipping a single robot with all the required sensing or actuating capabilities in dynamic and evolving missions may be infeasible due to energy and payload constraints. Large teams of heterogeneous robots may combine their capabilities through sub-teaming to accomplish tasks outside the capabilities of the same number of robots acting independently. This resource allocation problem requires modeling solutions capable of high levels of runtime concurrency. In this paper we propose a petri-net based semantics for prescribing these behaviors. The use of petri-nets are prevalent and well known which makes it an ideal formalism for concurrency abstractions especially for design verification and validation by formal or system simulation methods. As proof of principle we simulate the behavior revealing that successful teaming is highly dependent on energy consumption and communication latency.
More than 1 billion people worldwide do not have access to electricity, mostly from rural areas. The rural people are mostly poor and depend highly on agriculture for their livelihood. The pico-hydroelectric turbine i...
详细信息
ISBN:
(数字)9798350381177
ISBN:
(纸本)9798350381184
More than 1 billion people worldwide do not have access to electricity, mostly from rural areas. The rural people are mostly poor and depend highly on agriculture for their livelihood. The pico-hydroelectric turbine is one of the best solutions for rural electrification, as it is the smallest and cheapest type of turbine. However, this research found that Pico-hydroelectric turbines can be improved in weight, structural integrity, and cost to benefit the rural community further. This research aims to improve the propeller design of the lkW Pico-hydroelectric turbine using Finite Element Analysis (FEA). Several modifications were made to the propeller's blade and hub before a computer Aided Drawing (CAD) model was developed using Solidworks software. An analytical solution was employed to derive load and boundary conditions required as inputs for simulation. A Finite Element (FE) model was then developed from the CAD model using ANSYS mech software before FEA was conducted to analyze the effect of geometry on structural integrity. In the structural analysis, the result of the improved propeller design shows a considerable reduction in the overall weight, total deformation, and stress compared with the original design of the propeller by 34%, 68.7%, and 53%, respectively.
The potential and electric field responses in cylinder cavity with ceramics slice caused by distributed charge in X-ray environment were simulated with finite difference method. The numerical results indicate that the...
详细信息
In the development and deployment of the connected and automated vehicles, testing and evaluation are essential. In the existing testing methods (simulation test, closed facility test and on-road test), closed facilit...
详细信息
The paper considers the possibility of increasing the efficiency of wind power plants through the use of jet mechanization of propeller blades. The study of jet mechanization of the blade was carried out for the aerod...
详细信息
Two-dimensional binary gas mixture outflow from a vessel into vacuum through a thin slit is studied on the basis of direct solution of the Boltzmann kinetic equation. For evaluation of collision integrals in the Boltz...
详细信息
The dynamic mechanical properties of waste glass powder concrete are studied, and the dynamic compressive strength, peak strain, stress-strain curve and dynamic enhancement factor change with strain rate and waste gla...
详细信息
Cross-Linked Polyethylene (XLPE) power cables are widely used for electric power distribution and transmission networks. They are suffering from long-term degradation under continuous electrical stress. During cable a...
详细信息
暂无评论