4 papers · 1 filter
Contact-UAN: Unsupervised Actuator Networks as a Residual World Model for Humanoid Control
Nolan Fey, Khai Nguyen, Yash Prabhu +2
Humanoid policies trained in simulation can transfer qualitatively to hardware while failing to transfer the force interactions learned during training, compromising torque efficie…
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Anujith Muraleedharan, Abdul Ahad Butt, Nolan Fey +5
Humanoid robots operating in unstructured environments must combine robust whole-body control with the ability to perceive and physically interact with surrounding objects. While l…
SoftMimic: Learning Compliant Whole-body Control from Examples
Gabriel B. Margolis, Michelle Wang, Nolan Fey +1
We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning…
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
Nolan Fey, Gabriel B. Margolis, Martin Peticco +1
Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards tha…