arXiv subjects

Naveed Tahir

Publications and source records attributed to Naveed Tahir.

2 recordsLinked to original sources

arXiv2026

Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions

The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intelligence. However, we are unaware of any published methodology that achieves reliable, unassisted bipedal locomotion on the standard Poppy hardware. This paper contributes a functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking. Starting with data collected from open-loop playback of a nominal walking trajectory, our proposed method learns a quadratic cost function for an LQR controller that substantially improves the reliability of the motion. The closed-loop controller is validated empirically, demonstrating statistically significant improvements in walking performance compared to open-loop trajectory playback.

cs.RO↗

arXiv2021

Numerical Exploration of Training Loss Level-Sets in Deep Neural Networks

We present a computational method for empirically characterizing the training loss level-sets of deep neural networks. Our method numerically constructs a path in parameter space that is constrained to a set with a fixed near-zero training loss. By measuring regularization functions and test loss at different points within this path, we examine how different points in the parameter space with the same fixed training loss compare in terms of generalization ability. We also compare this method for finding regularized points with the more typical method, that uses objective functions which are weighted sums of training loss and regularization terms. We apply dimensionality reduction to the traversed paths in order to visualize the loss level sets in a well-regularized region of parameter space. Our results provide new information about the loss landscape of deep neural networks, as well as a new strategy for reducing test loss.

cs.LG↗