5 citations · 5 across the 3 of their papers we have counts for
3 papers
cs.RO2024
Berkeley Humanoid: A Research Platform for Learning-based Control
Qiayuan Liao, Bike Zhang, Xuanyu Huang +3
We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifica…
cs.RO2024★ 5 cited
Humanoid Locomotion as Next Token Prediction
Ilija Radosavovic, Bike Zhang, Baifeng Shi +5
We cast real-world humanoid control as a next token prediction problem, akin to predicting the next word in language. Our model is a causal transformer trained via autoregressive p…
eess.SY2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments
Hengbo Ma, Bike Zhang, Masayoshi Tomizuka +1
Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-…