2 citations · 4 across the 3 of their papers we have counts for
3 papers
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
AJ Miller, Shamel Fahmi, Matthew Chignoli +1
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIMOC is a Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference trajector…
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two ma…
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding +1
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-col…