55 citations · 60 across the 28 of their papers we have counts for
7 papers · 1 filter
Offline Adaptation of Quadruped Locomotion using Diffusion Models
Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu +2
We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) o…
SPARTAN: A Sparse Transformer World Model Attending to What Matters
Anson Lei, Bernhard Schölkopf, Ingmar Posner
Capturing the interactions between entities in a structured way plays a central role in world models that flexibly adapt to changes in the environment. Recent works motivate the be…
A Review of Differentiable Simulators
Rhys Newbury, Jack Collins, Kerry He +4
Differentiable simulators continue to push the state of the art across a range of domains including computational physics, robotics, and machine learning. Their main value is the a…
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou +2
The current state-of-the-art in quadruped locomotion is able to produce a variety of complex motions. These methods either rely on switching between a discrete set of skills or lea…
Compete and Compose: Learning Independent Mechanisms for Modular World Models
Anson Lei, Frederik Nolte, Bernhard Schölkopf +1
We present COmpetitive Mechanisms for Efficient Transfer (COMET), a modular world model which leverages reusable, independent mechanisms across different environments. COMET is tra…
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
Jun Yamada, Shaohong Zhong, Jack Collins +1
Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisat…
DreamUp3D: Object-Centric Generative Models for Single-View 3D Scene Understanding and Real-to-Sim Transfer
Yizhe Wu, Haitz Sáez de Ocáriz Borde, Jack Collins +2
3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose…