23 citations · 46 across the 8 of their papers we have counts for
12 papers
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…
V-STRONG: Visual Self-Supervised Traversability Learning for Off-road Navigation
Sanghun Jung, JoonHo Lee, Xiangyun Meng +2
Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated…
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving
Sidharth Talia, Matt Schmittle, Alexander Lambert +3
Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to…
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation
Xiangyun Meng, Nathan Hatch, Alexander Lambert +11
Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structure…
Learning Implicit Priors for Motion Optimization
Julen Urain, An T. Le, Alexander Lambert +3
In this paper, we focus on the problem of integrating Energy-based Models (EBM) as guiding priors for motion optimization. EBMs are a set of neural networks that can represent expr…
Stein Variational Probabilistic Roadmaps
Alexander Lambert, Brian Hou, Rosario Scalise +2
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately…