2 citations · 5 across the 8 of their papers we have counts for
9 papers
HRTF Upsampling and Personalization via Neural Operators
Meenakshi Krishnan, You Zhang, Ramani Duraiswami +1
Head-related transfer function (HRTF) spatial upsampling from sparse measurements is a fundamental challenge in personalized binaural audio. We formulate HRTF upsampling as an oper…
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…
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…
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…