5 citations · 10 across the 9 of their papers we have counts for
3 papers · 1 filter
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
Pranay Dugar, Aayam Shrestha, Fangzhou Yu +2
A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joy…
Learning Decentralized Multi-Biped Control for Payload Transport
Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde +5
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectivene…
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking
Bart van Marum, Aayam Shrestha, Helei Duan +3
A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances. Recent progress has been made using sim-to-real reinforcement lear…