173 citations · 237 across the 5 of their papers we have counts for
8 papers
A Compositional Perspective on Communication-Control Co-Design for Mobile Broadband Systems Beyond 6G
Angelo Vera-Rivera, Atefeh Termehchi, Ekram Hossain
Anticipated applications of beyond sixth-generation (B6G) mobile broadband networks will require the co-design of communication and control subsystems within the network architectu…
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittl…
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients
Brian Plancher, Sabrina M. Neuman, Radhika Ghosal +2
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subp…
A Comparison of Action Spaces for Learning Manipulation Tasks
Patrick Varin, Lev Grossman, Scott Kuindersma
Designing reinforcement learning (RL) problems that can produce delicate and precise manipulation policies requires careful choice of the reward function, state, and action spaces.…
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg +3
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions…
Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged Microrobot
Neel Doshi, Kaushik Jayaram, Samantha Castellanos +2
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Rece…
Finding Asteroids Down the Back of the Couch: A Novel Approach to the Minor Planet Linking Problem
Matthew J. Holman, Matthew J. Payne, Paul Blankley +2
We present a novel approach to the minor planet linking problem. Our heliocentric transformation-and-propagation algorithm clusters tracklets at common epochs, allowing for the eff…
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion
Scott Kuindersma, Frank Permenter, Russ Tedrake
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function…