2 citations · 4 across the 5 of their papers we have counts for
5 papers
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
Zachary Olkin, William D. Compton, Ryan M. Bena +1
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have…
POLAR: Preference Optimization and Learning Algorithms for Robotics
Maegan Tucker, Kejun Li, Yisong Yue +1
Parameter tuning for robotic systems is a time-consuming and challenging task that often relies on domain expertise of the human operator. Moreover, existing learning methods are n…
Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations
Tyler Westenbroek, Xiaobin Xiong, Aaron D Ames +1
This paper investigates optimal control problems formulated over a class of piecewise-smooth vector fields. Instead of optimizing over the discontinuous system directly, we instead…
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala +2
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints.…
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers
Kaveh Akbari Hamed, Wen-Loong, Aaron D. Ames
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This pape…