8 citations · 20 across the 16 of their papers we have counts for
16 papers
Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
Guillermo A. Castillo, Himanshu Lodha, Ayonga Hereid
This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (…
Rethink Repeatable Measures of Robot Performance with Statistical Query
Bowen Weng, Linda Capito, Guillermo A. Castillo +1
For a general standardized testing algorithm designed to evaluate a specific aspect of a robot's performance, several key expectations are commonly imposed. Beyond accuracy (i.e.,…
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Chengyang Peng, Victor Paredes, Guillermo A. Castillo +1
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground conta…
Repeatable and Reliable Efforts of Accelerated Risk Assessment in Robot Testing
Linda Capito, Guillermo A. Castillo, Bowen Weng
Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots…
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo +1
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping s…
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy…
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang +2
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of tas…
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang +1
Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theor…
On the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
This paper studies the class of scenario-based safety testing algorithms in the black-box safety testing configuration. For algorithms sharing the same state-action set coverage wi…
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety perfor…
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra +2
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline,…
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo +2
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feed…
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics.…
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart +2
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dyna…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid +1
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this…