4 papers
An Invariant Compiler for Neural ODEs in AI-Accelerated Scientific Simulation
Fangzhou Yu, Yiqi Su, Ray Lee +2
Neural ODEs are increasingly used as continuous-time models for scientific and sensor data, but unconstrained neural ODEs can drift and violate domain invariants (e.g., conservatio…
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittl…
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures
AJ Miller, Fangzhou Yu, Michael Brauckmann +1
This work presents an overview of the technical details behind a high performance reinforcement learning policy deployment with the Spot RL Researcher Development Kit for low level…
Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control
Xiaoyu Huang, Takara Truong, Yunbo Zhang +5
We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While exis…