14 citations · 44 across the 10 of their papers we have counts for
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cs.RO2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Karl Van Wyk, Mandy Xie, Anqi Li +9
Classical mechanical systems are central to controller design in energy shaping methods of geometric control. However, their expressivity is limited by position-only metrics and th…
cs.RO2021
Imitation Learning via Simultaneous Optimization of Policies and Auxiliary Trajectories
Mandy Xie, Anqi Li, Karl Van Wyk +3
Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distribution…
cs.RO2021★ 3 cited
RMP2: A Structured Composable Policy Class for Robot Learning
Anqi Li, Ching-An Cheng, M. Asif Rana +4
We consider the problem of learning motion policies for acceleration-based robotics systems with a structured policy class specified by RMPflow. RMPflow is a multi-task control fra…