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@InProceedings{ALA12-MacAlpine,
  author = {Patrick MacAlpine and Peter Stone},
  title = {Using Dynamic Rewards to Learn a Fully Holonomic Bipedal Walk},
  booktitle = {AAMAS Adaptive Learning Agents (ALA) Workshop},
  location = {Valencia, Spain},
  month = {June},
  year = {2012},
  abstract={
   This paper presents the design and learning architecture for a fully 
    holonomic omnidirectional walk used by the UT Austin Villa humanoid robot 
    soccer agent acting in the RoboCup 3D simulation environment.  By ``fully 
    holonomic'' we mean the walk allows for movement in all directions with equal 
    velocity.  The walk is based on a double linear inverted pendulum model and was
    originally designed for the actual physical Nao robot.  Parameters for the walk 
    are optimized for maximum speed and stability while at the same time a novel 
    approach of reweighting rewards for walking speeds in the cardinal directions of
    forwards, backwards, and sideways is utilized to promote equal walking 
    velocities in all directions.  A variant of this walk which uses the same walk 
    engine, but is not fully holonomic as it employs three different sets of learned
    walk parameters biased toward maximizing forward walking speed, was the crucial 
    component in the UT Austin Villa team winning the 2011 RoboCup 3D simulation 
    competition.  Detailed experiments reveal that adaptively changing the weights 
    of rewards over time is an effective method for learning a fully holonomic walk.
    Additional data shows that a team of agents using this learned fully holonomic 
    walk is able to beat other teams, including that of the 2011 RoboCup 3D 
    simulation champion UT Austin Villa team, that utilize non-fully holonomic 
    walks.
  },
  wwwnote={Video available at <a href="http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2012/html/holonomicwalk.html">http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2012/html/holonomicwalk.html</a>},
}