1 citations · 2 across the 11 of their papers we have counts for
11 papers
Building Gradient by Gradient: Decentralised Energy Functions for Bimanual Robot Assembly
Alexander L. Mitchell, Joe Watson, Ingmar Posner
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and…
Task and Joint Space Dual-Arm Compliant Control
Alexander L. Mitchell, Tobit Flatscher, Ingmar Posner
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant frictio…
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping
Jun Yamada, Alexander L. Mitchell, Jack Collins +1
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constrain…
Offline Adaptation of Quadruped Locomotion using Diffusion Models
Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu +2
We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) o…
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Vassil Atanassov, Wanming Yu, Alexander Luis Mitchell +2
Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use…
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou +2
The current state-of-the-art in quadruped locomotion is able to produce a variety of complex motions. These methods either rely on switching between a discrete set of skills or lea…
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell +1
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, w…
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert +5
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of…
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert +5
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecti…
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones +5
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic…
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
Siddhant Gangapurwala, Alexander Mitchell, Ioannis Havoutis
Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is s…