3 citations · 5 across the 6 of their papers we have counts for
4 papers · 1 filter
Simultaneous Learning of Contact and Continuous Dynamics
Bibit Bianchini, Mathew Halm, Michael Posa
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they…
Reinforcement Learning for Reduced-order Models of Legged Robots
Yu-Ming Chen, Hien Bui, Michael Posa
Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accom…
Bipedal Walking on Constrained Footholds with MPC Footstep Control
Brian Acosta, Michael Posa
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse d…
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
Bibit Bianchini, Mathew Halm, Nikolai Matni +1
Inspired by recent strides in empirical efficacy of implicit learning in many robotics tasks, we seek to understand the theoretical benefits of implicit formulations in the face of…