1 citations · 1 across the 4 of their papers we have counts for
5 papers · 1 filter
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li, Jun Zeng, Akshay Thirugnanam +1
Bridging model-based safety and model-free reinforcement learning (RL) for dynamic robots is appealing since model-based methods are able to provide formal safety guarantees, while…
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
Lizhi Yang, Zhongyu Li, Jun Zeng +1
In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipe…
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
Anxing Xiao, Wenzhe Tong, Lizhi Yang +3
An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are…
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Chenyu Yang, Bike Zhang, Jun Zeng +2
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation task…