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cs.RO2026
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…
cs.RO2018
LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers
Robin Deits, Twan Koolen, Russ Tedrake
Guided policy search is a popular approach for training controllers for high-dimensional systems, but it has a number of pitfalls. Non-convex trajectory optimization has local mini…