English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

Trajectory optimization and posture generation are hard problems in robotlocomotion, which can be non-convex and have multiple local optima. Progress onthese problems is further hindered by a lack of open benchmarks, sincecomparisons of different solutions are difficult to make. In this paper weintroduce a new benchmark for trajectory optimization and posture generation oflegged robots, using a pre-defined scenario, robot and constraints, as well asevaluation criteria. We evaluate state-of-the-art trajectory optimizationalgorithms based on sequential quadratic programming (SQP) on the benchmark, aswell as new stochastic and incremental optimization methods borrowed from thelarge-scale machine learning literature. Interestingly we show that some ofthese stochastic and incremental methods, which are based on stochasticgradient descent (SGD), achieve higher success rates than SQP on toughinitializations. Inspired by this observation we also propose a new incrementalvariant of SQP which updates only a random subset of the costs and constraintsat each iteration. The algorithm is the best performing in both success rateand convergence speed, improving over SQP by up to 30% in both criteria. Thebenchmark's resources and a solution evaluation script are made openlyavailable.

SGD for robot motion? The effectiveness of stochastic optimization on a new benchmark for biped locomotion tasks