198 citations · 306 across the 11 of their papers we have counts for
11 papers
Hierarchical generative modelling for autonomous robots
Kai Yuan, Noor Sajid, Karl Friston +1
Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundame…
Multi-Contact Motion Retargeting using Whole-body Optimization of Full Kinematics and Sequential Force Equilibrium
Quentin Rouxel, Kai Yuan, Ruoshi Wen +1
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipu…
Learning Perceptual Locomotion on Uneven Terrains using Sparse Visual Observations
Fernando Acero, Kai Yuan, Zhibin Li
To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse…
Deep Pairwise Learning To Rank For Search Autocomplete
Kai Yuan, Da Kuang
Autocomplete (a.k.a "Query Auto-Completion", "AC") suggests full queries based on a prefix typed by customer. Autocomplete has been a core feature of commercial search engine. In t…
Multi-expert learning of adaptive legged locomotion
Chuanyu Yang, Kai Yuan, Qiuguo Zhu +2
Achieving versatile robot locomotion requires motor skills which can adapt to previously unseen situations. We propose a Multi-Expert Learning Architecture (MELA) that learns to ge…
Learning natural locomotion behaviors for humanoid robots using human knowledge
Chuanyu Yang, Kai Yuan, Shuai Heng +2
This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomoti…
Reaching, Grasping and Re-grasping: Learning Multimode Grasping Skills
Wenbin Hu, Chuanyu Yang, Kai Yuan +1
The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In th…
Learning Pregrasp Manipulation of Objects from Ungraspable Poses
Zhaole Sun, Kai Yuan, Wenbin Hu +2
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped fro…
Learning Whole-body Motor Skills for Humanoids
Chuanyu Yang, Kai Yuan, Wolfgang Merkt +3
This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, fo…
Force-guided High-precision Grasping Control of Fragile and Deformable Objects using sEMG-based Force Prediction
Ruoshi Wen, Kai Yuan, Qiang Wang +2
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the…
Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking
Wenbin Hu, Iordanis Chatzinikolaidis, Kai Yuan +1
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the n…