Publications (5)
Interactive World Simulator for Robot Policy Training and Evaluation
Yixuan Wang, Rhythm Syed, Fangyu Wu +7
Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and str…
Swim: A General-Purpose, High-Performing, and Efficient Activation Function for Locomotion Control Tasks
Maryam Abdool, Tony Dear
Activation functions play a significant role in the performance of deep learning algorithms. In particular, the Swish activation function tends to outperform ReLU on deeper models,…
DeepCollide: Scalable Data-Driven High DoF Configuration Space Modeling using Implicit Neural Representations
Gabriel Guo, Judah Goldfeder, Aniv Ray +2
Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometr…
The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media
Blake Buchanan, Tony Dear, Scott Kelly +2
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion,…
Guided Deep Reinforcement Learning for Articulated Swimming Robots
Jiaheng Hu, Tony Dear
Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited.…