8 citations · 10 across the 8 of their papers we have counts for
5 papers · 1 filter
Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator
Haichao Zhang, Haonan Yu, Le Zhao +4
Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After…
SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learning
Haichao Zhang, Haonan Yu, Le Zhao +4
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possi…
Solving Motion Planning Tasks with a Scalable Generative Model
Yihan Hu, Siqi Chai, Zhening Yang +6
As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A re…
Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challenge
Yihan Hu, Kun Li, Pingyuan Liang +7
This paper presents our 2nd place solution for the NuPlan Challenge 2023. Autonomous driving in real-world scenarios is highly complex and uncertain. Achieving safe planning in the…
Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework
Lingfeng Sun, Haichao Zhang, Wei Xu +1
In this work, we investigate the potential of improving multi-task training and also leveraging it for transferring in the reinforcement learning setting. We identify several chall…