6 citations · 6 across the 6 of their papers we have counts for
7 papers
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…
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen externa…
Optimal Constrained Task Planning as Mixed Integer Programming
Alphonsus Adu-Bredu, Nikhil Devraj, Odest Chadwicke Jenkins
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a spec…
Contact simulation of a 2D Bipedal Robot kicking a ball
Alphonsus Adu-Bredu
This report describes an approach for simulating multi-body contacts of actively-controlled systems. In this work, we focus on the controls and contact simulation of a 2-dimensiona…
Probabilistic Inference in Planning for Partially Observable Long Horizon Problems
Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin +2
For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion P…
GODSAC*: Graph Optimized DSAC* for Robot Relocalization
Alphonsus Adu-Bredu, Noah Del Coro, Tianyi Liu
Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent…
Elephants Don't Pack Groceries: Robot Task Planning for Low Entropy Belief States
Alphonsus Adu-Bredu, Zhen Zeng, Neha Pusalkar +1
Recent advances in computational perception have significantly improved the ability of autonomous robots to perform state estimation with low entropy. Such advances motivate a reco…