Applying Reinforcement Learning to a Jumping Humanoid

Institute

Lehrstuhl für Angewandte Mechanik (TUM-ED)

Type

Semester Thesis / Master's Thesis /

Content

theoretical /  

Description

Topic:

Humanoid robots with the ability to jump can navigate complex environments fast. The key challenge lies in developing control strategies that allow the robot to learn to jump at varying heights and distances, while maintaining balance and ensuring safe landings. This thesis will explore the application of reinforcement learning (RL) to this problem. It will start with a comprehensive literature review on the current state of RL applications in robotic locomotion. A reward function will then be designed and a simulated environment will be used to train the RL algorithm. Simulations of varying accuracy will be used. A fast low-accuracy simulation will be used to learn the behavior, while a slower high-fidelity simulation will be used to validate learned policy's transferability to the real world. Lastly, the performance of the RL-based jumping mechanism will be compared to traditional control strategies. This work aims to provide insights on the potential and challenges of applying RL to dynamic locomotion tasks in humanoid robotics.

 

As with all my theses, the proposed topic is just a starting point. It is flexible and can be adjusted to what interests you and what direction the research leads. The expectations regarding results, prerequisits and work-ethic will be modulated based on whether a MA/SA or BA is written.

 

Application:

Please send all previous transcripts of records and your full CV to tomas.slimak@tum.de with the subject Application MA/SA/BA "name of thesis". Write a few sentences about what motivates you to apply for this thesis and why you would fit the topic. Please be specific in citing the experience/expertise that you have which would be relevant to this topic.

 

After submitting your application, it will be reviewed and if you are deemed suitable for the topic, you will be invited for an interview. Please be aware that part of this interview will be an oral evaluation of your background and understanding of concepts relevant to the thesis. The more preparation, creativity and initiative you are able to show, the better.

 

If you are interested in multiple theses that I am offering, do not send multiple applications, just name all the titles in a single mail. Applications and theses can be submitted in English or German as well.

 

Requirements

 

Possible start

sofort

Contact

Tomas Slimak, M.Sc.
Room: 3104
Phone: +49 (89) 289 - 15226
tomas.slimaktum.de