Glen Berseth

I am an assistant professor at the University de Montreal and Mila. My research explores how to use deep learning and reinforcement learning to develop generalist robots.

#RealTimePlanning Articles


Robust Space-time Footsteps for Agent-based Steering

Glen Berseth

Randomized, continuous footstep action space.

Geometric validation to ensure valid configuration.

With this work we build upon prevous work to inductavely design a robust footsteps-based steering algorithm. The steering algorithm uses an A* algorithm to generate least cost footstep plans between goals while avoiding dynamic collisions.