68 citations · 196 across the 49 of their papers we have counts for
7 papers · 1 filter
TARC: Time-Adaptive Robotic Control
Arnav Sukhija, Lenart Treven, Jin Cheng +3
Most robotic systems rely on fixed-frequency discrete-time controllers, creating a trade-off between the efficiency of low-frequency control and the responsiveness of high-frequenc…
SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer
Yarden As, Chengrui Qu, Benjamin Unger +6
Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques…
Collaborative Loco-Manipulation for Pick-and-Place Tasks with Dynamic Reward Curriculum
Tianxu An, Flavio De Vincenti, Yuntao Ma +2
We present a hierarchical RL pipeline for training one-armed legged robots to perform pick-and-place (P&P) tasks end-to-end -- from approaching the payload to releasing it at a tar…
Simulation Priors for Data-Efficient Deep Learning
Lenart Treven, Bhavya Sukhija, Jonas Rothfuss +3
How do we enable AI systems to efficiently learn in the real-world? First-principles models are widely used to simulate natural systems, but often fail to capture real-world comple…
Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids
Arturo Flores Alvarez, Fatemeh Zargarbashi, Havel Liu +7
We present a Reinforcement Learning (RL)-based locomotion system for Cosmo, a custom-built humanoid robot designed for entertainment applications. Unlike traditional humanoids, ent…
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation
Yuanchen Yuan, Jin Cheng, Núria Armengol Urpí +1
Enabling legged robots to perform non-prehensile loco-manipulation is crucial for enhancing their versatility. Learning behaviors such as whole-body object pushing often requires s…
Learning More With Less: Sample Efficient Model-Based RL for Loco-Manipulation
Benjamin Hoffman, Jin Cheng, Chenhao Li +1
By combining the agility of legged locomotion with the capabilities of manipulation, loco-manipulation platforms have the potential to perform complex tasks in real-world applicati…