474 citations · 1.1k across the 33 of their papers we have counts for
5 papers · 1 filter
A resistive force model of legged locomotion on granular media
Chen Li, Tingnan Zhang, Daniel I. Goldman
Compared to agile legged animals, wheeled and tracked vehicles often suffer large performance loss on granular surfaces like sand and gravel. Understanding the mechanics of legged…
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…
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation
Xinlei Pan, Tingnan Zhang, Brian Ichter +3
Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be…
Data Efficient Reinforcement Learning for Legged Robots
Yuxiang Yang, Ken Caluwaerts, Atil Iscen +3
We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately…
Modeling of the interaction of rigid wheels with dry granular media
Shashank Agarwal, Carmine Senatore, Tingnan Zhang +4
We analyze the capabilities of various recently developed techniques, namely Resistive Force Theory (RFT) and continuum plasticity implemented with the Material Point Method (MPM),…