19 citations · 51 across the 23 of their papers we have counts for
5 papers · 1 filter
Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
Kaiwen Jiang, Zhen Fu, Junde Guo +2
In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and…
CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion
Hongxi Wang, Haoxiang Luo, Wei Zhang +1
Thanks to recent explosive developments of data-driven learning methodologies, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem…
GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement
Linfang Zheng, Tze Ho Elden Tse, Chen Wang +4
Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-leve…
POMDP-Guided Active Force-Based Search for Robotic Insertion
Chen Wang, Haoxiang Luo, Kun Zhang +3
In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficien…
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
Shunpeng Yang, Zejun Hong, Sen Li +3
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism f…