Publications

Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning With Application to Autonomous Driving

Published in IEEE Robotics and Automation Letters, 2020

Present an efficient sampling-based maximum-entropy inverse reinforcement learning (IRL) algorithm to extract what human drivers try to optimize from real traffic data.

Recommended citation: Zheng. Wu, Liting. Sun, Wei. Zhan, Chenyu. Yang and Masayoshi Tomizuka, "Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning With Application to Autonomous Driving," in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5355-5362, Oct. 2020

Dynamic Legged Manipulation of a Ball by Mini Cheetah Through Multi-Contact Optimization

Published in IROS2020, 2020

Designed controller to make mini-cheetah manipulate a ball.

Recommended citation: Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, and Koushil Sreenath. Dynamic legged manipulation of a ball by mini cheetah through multi-contact optimization. InIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020.

Sim-to-Real: Designing Locomotion Controller for Six-Legged Robot

Published in ieee-cyber, 2019

This is my first paper(my first shot in reinforcement learnning, and in writting papers), originally from a course project for introduction of reinforcement learning.