1.5k citations · 4.2k across the 24 of their papers we have counts for
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Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim +3
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a nove…
Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains
Jeong Hyun Lee, Jinhyeok Choi, Simo Ryu +3
In the realm of autonomous mobile robots, safe navigation through unpaved outdoor environments remains a challenging task. Due to the high-dimensional nature of sensor data, extrac…
Learning Whole-body Manipulation for Quadrupedal Robot
Seunghun Jeon, Moonkyu Jung, Suyoung Choi +2
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy…
ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation
Hui Zhang, Sammy Christen, Zicong Fan +4
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the g…
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
Yunho Kim, Hyunsik Oh, Jeonghyun Lee +5
Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free rein…