5 citations · 17 across the 31 of their papers we have counts for
4 papers · 1 filter
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…
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
Martin Peticco, Gabriella Ulloa, John Marangola +2
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that li…
Language Model Personalization via Reward Factorization
Idan Shenfeld, Felix Faltings, Pulkit Agrawal +1
Modern large language models (LLMs) are optimized for human-aligned responses using Reinforcement Learning from Human Feedback (RLHF). However, existing RLHF approaches assume a un…
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…