14 citations · 23 across the 3 of their papers we have counts for
3 papers
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
Mandy Xie, Alejandro Escontrela, Frank Dellaert
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-bod…
Learning Agile Locomotion Skills with a Mentor
Atil Iscen, George Yu, Alejandro Escontrela +3
Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requ…
Zero-Shot Terrain Generalization for Visual Locomotion Policies
Alejandro Escontrela, George Yu, Peng Xu +2
Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of env…