2k citations · 2.2k across the 36 of their papers we have counts for
9 papers · 1 filter
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism
J. Taery Kim, Wenhao Yu, Yash Kothari +3
This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the…
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
Anthony Francis, Claudia Pérez-D'Arpino, Chengshu Li +28
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation ha…
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters
Tianyu Li, Jungdam Won, Alexander Clegg +3
Motion retargeting is a promising approach for generating natural and compelling animations for nonhuman characters. However, it is challenging to translate human movements into se…
Learning and Adapting Agile Locomotion Skills by Transferring Experience
Laura Smith, J. Chase Kew, Tianyu Li +5
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly…
ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation
Naoki Yokoyama, Alex Clegg, Joanne Truong +6
We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating t…
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments
Jeonghwan Kim, Tianyu Li, Sehoon Ha
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based f…
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation
Arnaud Klipfel, Nitish Sontakke, Ren Liu +1
Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work…
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning
Maks Sorokin, Chuyuan Fu, Jie Tan +5
As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook…
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum
Yunbo Zhang, Alexander Clegg, Sehoon Ha +2
In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further…