4 citations · 4 across the 12 of their papers we have counts for
6 papers · 1 filter
CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments
Tan-Dzung Do, Tuan Dat Phuong, Nico Bohlinger +6
Behavior Foundation Models (BFMs) give humanoids a promptable policy over a latent behavior space, enabling one single vector to represent a motion to imitate, a pose to reach, or…
ChronoSRL: Temporal Geometry for Self-Supervised Reinforcement Learning
Nico Bohlinger, Jan Peters
A goal that is close in space can be far away in time. Obstacles, terrain, and the agent's own capabilities determine how long it takes to get there. Yet, critics in contrastive an…
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Dichen Li, Bo Ai, Nico Bohlinger +3
Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learning-based robot policies often break when hardware properties shift. W…
Shape Your Body: Value Gradients for Multi-Embodiment Robot Design
Nico Bohlinger, Jan Peters
We propose to turn generalist multi-embodiment value functions into reusable models for robot design. Instead of running a new reinforcement learning co-design loop for each robot,…
Active Embodiment Identification with Reinforcement Learning for Legged Robots
Nico Bohlinger, Jan Peters
We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment prediction. Using a history-augment…
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Nico Bohlinger, Piotr Kicki, Davide Tateo +2
The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly…