7 citations · 8 across the 11 of their papers we have counts for
5 papers · 1 filter
LEGATO: Cross-Embodiment Imitation Using a Grasping Tool
Mingyo Seo, H. Andy Park, Shenli Yuan +2
Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning…
Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization
Carlos Gonzalez, Luis Sentis
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-c…
RPC: A Modular Framework for Robot Planning, Control, and Deployment
Seung Hyeon Bang, Carlos Gonzalez, Gabriel Moore +3
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debuggi…
RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
Seung Hyeon Bang, Carlos Arribalzaga Jové, Luis Sentis
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal ma…
Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
Seung Hyeon Bang, Jaemin Lee, Carlos Gonzalez +1
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assu…