papers
Publications (2)
cs.RO2023
SACPlanner: Real-World Collision Avoidance with a Soft Actor Critic Local Planner and Polar State Representations
Khaled Nakhleh, Minahil Raza, Mack Tang +6
We study the training performance of ROS local planners based on Reinforcement Learning (RL), and the trajectories they produce on real-world robots. We show that recent enhancemen…
cs.RO2024
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
Nisal Perera, Shangqun Yu, Daniel Marew +6
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe…