2 citations · 5 across the 12 of their papers we have counts for
12 papers
Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control
Chaoyi Pan, Zeji Yi, John Zhang +3
Thanks to its parallelizability and flexibility, sampling-based Model Predictive Control (MPC) has become widely popular for controlling real-world robotic systems. However, for hi…
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal +14
Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-pol…
Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing
Zeji Yi, Chaoyi Pan, Guanya Shi +1
Sampling-based optimization (SBO), like cross-entropy method and evolutionary algorithms, has achieved many successes in solving non-convex problems without gradients, yet its conv…
Much Ado About Noising: Dispelling the Myths of Generative Robotic Control
Chaoyi Pan, Giri Anantharaman, Nai-Chieh Huang +8
Generative models, like flows and diffusions, have recently emerged as popular and efficacious policy parameterizations in robotics. There has been much speculation as to the facto…
SPIDER: Scalable Physics-Informed Dexterous Retargeting
Chaoyi Pan, Changhao Wang, Haozhi Qi +8
Learning agile robotic policies requires large-scale demonstrations, but translating abundant human motion data to robots is bottlenecked by the embodiment gap and missing dynamic…
Action Chunking and Exploratory Data Collection Yield Exponential Improvements in Behavior Cloning for Continuous Control
Thomas T. Zhang, Daniel Pfrommer, Chaoyi Pan +2
This paper presents a theoretical analysis of two of the most impactful interventions in modern learning from demonstration in robotics and continuous control: the practice of acti…
Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
Yitang Li, Yuanhang Zhang, Wenli Xiao +5
Can your humanoid walk up and hand you a full cup of beer, without spilling a drop? While humanoids are increasingly featured in flashy demos like dancing, delivering packages, tra…
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
John Z. Zhang, Taylor A. Howell, Zeji Yi +6
We demonstrate the surprising real-world effectiveness of a very simple approach to whole-body model-predictive control (MPC) of quadruped and humanoid robots: the iterative LQR (i…
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao +15
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a s…
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing
Haoru Xue, Chaoyi Pan, Zeji Yi +2
Due to high dimensionality and non-convexity, real-time optimal control using full-order dynamics models for legged robots is challenging. Therefore, Nonlinear Model Predictive Con…
Model-Based Diffusion for Trajectory Optimization
Chaoyi Pan, Zeji Yi, Guanya Shi +1
Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement proce…
CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design
Zeji Yi, Chaoyi Pan, Guanqi He +2
Sampling-based Model Predictive Control (MPC) has been a practical and effective approach in many domains, notably model-based reinforcement learning, thanks to its flexibility and…