38 citations · 50 across the 2 of their papers we have counts for
4 papers
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
Eric Heiden, David Millard, Erwin Coumans +1
We present a differentiable simulation architecture for articulated rigid-body dynamics that enables the augmentation of analytical models with neural networks at any point of the…
Learning Agile Robotic Locomotion Skills by Imitating Animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang +3
Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many com…
Policies Modulating Trajectory Generators
Atil Iscen, Ken Caluwaerts, Jie Tan +4
We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both…
Learning Fast Adaptation with Meta Strategy Optimization
Wenhao Yu, Jie Tan, Yunfei Bai +2
The ability to walk in new scenarios is a key milestone on the path toward real-world applications of legged robots. In this work, we introduce Meta Strategy Optimization, a meta-l…