5 citations · 6 across the 10 of their papers we have counts for
10 papers
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning
Xuan Lin, Gabriel Ikaika Fernandez, Dennis Hong
Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solvi…
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi +3
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and…
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning
Tianle Huang, Nitish Sontakke, K. Niranjan Kumar +4
Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and t…
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots
Jingwen Zhang, Junjie Shen, Yeting Liu +1
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal ro…
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots
Nitish Sontakke, Hosik Chae, Sangjoon Lee +3
The light and soft characteristics of Buoyancy Assisted Lightweight Legged Unit (BALLU) robots have a great potential to provide intrinsically safe interactions in environments inv…
Benchmark Results for Bookshelf Organization Problem as Mixed Integer Nonlinear Program with Mode Switch and Collision Avoidance
Xuan Lin, Gabriel I. Fernandez, Dennis W. Hong
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines data-driven methods on solver heuristics has s…