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Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the technology in the real world, we require robust navigation stacks relying only on low-cost sensors such as depth cameras. This paper presents a first step towards a ro
Black-box policy optimization is a class of reinforcement learning algorithms that explores and updates the policies at the parameter level. This class of algorithms is widely applied in robotics with movement primitives or non-differentiable policies. Furthermore, these approaches are particularly relevant where exploration at the action level could cause actuator damage or other safety issues. H
Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and real-time collisions with the world around them. Distance-based constraints are fundamental for enabling robots to plan their actions and act safely, protecting
Learning robot motions from demonstration requires models able to specify vector fields for the full robot pose when the task is defined in operational space. Recent advances in reactive motion generation have shown that learning adaptive, reactive, smooth, and stable vector fields is possible. However, these approaches define vector fields on a flat Euclidean manifold, while representing vector f
Reinforcement learning with sparse rewards is still an open challenge. Classic methods rely on getting feedback via extrinsic rewards to train the agent, and in situations where this occurs very rarely the agent learns slowly or cannot learn at all. Similarly, if the agent receives also rewards that create suboptimal modes of the objective function, it will likely prematurely stop exploring. More
Reinforcement learning (RL) has demonstrated its ability to solve high dimensional tasks by leveraging non-linear function approximators. However, these successes are mostly achieved by 'black-box' policies in simulated domains. When deploying RL to the real world, several concerns regarding the use of a 'black-box' policy might be raised. In order to make the learned policies more transparent, we
Mango production plays a vital role in rural livelihoods in Mozambique, yet post-harvest losses remain high, ranging from 25% to over 50%, due to inadequate preservation methods. Improved solar drying technologies offer a sustainable solution by extending shelf life and enhancing product quality. However, their adoption among smallholder mango farmers remains limited. This study investigates the k
Catalonia is a nation with it's own language, its own culture, own policy and own history it is said. A non-independent nation that is living it's ordinary life flagging its banal symbols as if it al ready was an independent state. Some catalanistas assert that this kind of weirdness could be the death row for Catalonia and its future as in independent nation of its own. They state that it
The thesis explores how the political discourse on refugees and asylum seekers is produced within portfolio committee meetings at the South African parliament. A critical discourse analysis investigates how statements of delegates of the Department of Home Affairs and Social Development foster unequal power relations and construct social identities perpetuating the on-going discourse on refugees a
Flann O´Briens The Third Policeman är skriven 1940 men publicerades 1967, efter författarens död. Några av de narrativa grepp som används i berättelsen undersöks. Tidsordningen i berättelsen jämförs med tidsordningen i den berättade storyn med utgångspunkt från teori i Gérard Genettes Narrative Discourse-An Essay in Method. Den totala tidens varaktighet (duration) i berättelsen jämförs med den tot
This essay explores some of the basic norms that exist in two groups that live under honor-related oppression. The two groups we have studied are cults and families that have honor-related norms. By applying Länsstyrelsens definition of honor-related oppression to situations that exists in cults and families with honor-related oppression we have identified the existence of some norms concerning ho
Det här examensarbetet grundar sig på en översättning av den tyske författaren Daniel Kehlmanns Diese sehr ernsten Scherze. Poetikvorlesungen (2007). Efter en inledande källtextanalys följer en redogörelse för de strategiska överväganden som låg till grund för översättningen. Arbetet avslutas sedan med en fördjupande översättningskommentar där två specifika översättningsproblem näranalyseras i rel
How is the police violence described and is it of any importance? The Parliamentary Ombudsman (JO) has to in the public interest watch over the constitutional protection, which each citizen in Sweden receives, by directing the attention at the authorities’ shortcomings in judicial practice. When complaint against Police authority with the claim that violence has been exercised by police comes to J
Ett enhetligt SAS – samspelet mellan vision, kultur & image Den 12 november 2012 gick Scandinavian Airlines ut till allmänheten med en sparplan som skulle hindra bolaget från att gå i konkurs. En stor kris hade utveck-lats, anställningar skulle tas bort och tillgångar skulle säljas. Krisen medförde ett stort medieutrymme och diskussionerna kring krisen var många, på traditionella medier såväl
The housing market in Sweden today has submitted to the rules of commercial markets. The de-mand is rising while the supply is decreasing; pushing rents to go up. The interest in building apartment blocks is low due to high costs and low revenue. Prior to 1991 private actors was encouraged to enter the housing market through tax revenues and loan subventions and through Public-Private Partnerships
As globalization advances, so does international trading. This Bachelor’s thesis’ purpose is to analyze in what way corporations conform to human rights by using suppliers in a globalized environment and what impact globalization has on corporation’s actions in accordance with human rights. By qualitatively analyzing documents and by conducting an argumentation analysis, the methodological foundat
The purpose of this study is to question the neutrality in the reports from Al Jazeera and BBC about the Israeli military operation “Pillar of Defense” that took place in November 2012. The study is conducted through different linguistic and structural analyses that aim to find ideological patterns in the way the agencies report about the events. Since both agencies claim to be neutral and not pol
