3 citations · 4 across the 5 of their papers we have counts for
6 papers · 1 filter
RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks
Kaiyuan Chen, Shuangyu Xie, Uksang Yoo +9
It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, defo…
Mechanical Intelligence-Aware Curriculum Reinforcement Learning for Humanoids with Parallel Actuation
Yusuke Tanaka, Alvin Zhu, Quanyou Wang +2
Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuatio…
AURA: Autonomous Upskilling with Retrieval-Augmented Agents
Alvin Zhu, Yusuke Tanaka, Andrew Goldberg +1
Designing reinforcement learning curricula for agile robots traditionally requires extensive manual tuning of reward functions, environment randomizations, and training configurati…
Tethered Variable Inertial Attitude Control Mechanisms through a Modular Jumping Limbed Robot
Yusuke Tanaka, Alvin Zhu, Dennis Hong
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity envi…
Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing using Gated Networks
Yusuke Tanaka, Alvin Zhu, Richard Lin +2
In limbed robotics, end-effectors must serve dual functions, such as both feet for locomotion and grippers for grasping, which presents design challenges. This paper introduces a m…
Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics
Alvin Zhu, Yusuke Tanaka, Fadi Rafeedi +1
This paper presents a novel approach through the design and implementation of Cycloidal Quasi-Direct Drive actuators for legged robotics. The cycloidal gear mechanism, with its inh…