5 papers
Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field
Yulin Li, Zhiyuan Song, Yiming Li +8
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult…
GO-Flock: Goal-Oriented Flocking in 3D Unknown Environments with Depth Maps
Yan Rui Tan, Wenqi Liu, Wai Lun Leong +4
Artificial Potential Field (APF) methods are widely used for reactive flocking control, but they often suffer from challenges such as deadlocks and local minima, especially in the…
Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids
Arturo Flores Alvarez, Fatemeh Zargarbashi, Havel Liu +7
We present a Reinforcement Learning (RL)-based locomotion system for Cosmo, a custom-built humanoid robot designed for entertainment applications. Unlike traditional humanoids, ent…
Learning Quiet Walking for a Small Home Robot
Ryo Watanabe, Takahiro Miki, Fan Shi +5
As home robotics gains traction, robots are increasingly integrated into households, offering companionship and assistance. Quadruped robots, particularly those resembling dogs, ha…
Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation
Jing Yuan Luo, Yunlong Song, Victor Klemm +3
First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, si…