Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Interactive Dynamic Walking: Learning Gait Switching Policies with
  Generalization Guarantees   In this paper, we consider the problem of adapting a dynamically walking
bipedal robot to follow a leading co-worker while engaging in tasks that
require physical interaction. Our approach relies on switching among a family
of Dynamic Movement Primitives (DMPs) as governed by a supervisor. We train the
supervisor to orchestrate the switching among the DMPs in order to adapt to the
leader's intentions, which are only implicitly available in the form of
interaction forces. The primary contribution of our approach is its ability to
furnish certificates of generalization to novel leader intentions for the
trained supervisor. This is achieved by leveraging the Probably Approximately
Correct (PAC)-Bayes bounds from generalization theory. We demonstrate the
efficacy of our approach by training a neural-network supervisor to adapt the
gait of a dynamically walking biped to a leading collaborator whose intended
trajectory is not known explicitly.

21
The categories of this paper are: adap-org
7
The categories of this paper are: hep-th
26
The categories of this paper are: bayes-an
35
The categories of this paper are: mtrl-th
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
31
The categories of this paper are: ao-sci
30
The categories of this paper are: q-alg
27
The categories of this paper are: comp-gas
29
The categories of this paper are: funct-an
16
The categories of this paper are: stat
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
6
The categories of this paper are: astro-ph
9
The categories of this paper are: nlin
18
The categories of this paper are: econ