4 papers
Online Sim-to-Real Adaptation via Closed-Loop System Modeling
Yuhao Huang, Samuel A. Moore, Boyuan Chen
Sim-to-real transfer has made substantial progress, but can still produce controllers that remain stable and functional on hardware while suffering from degraded tracking accuracy…
Learning Legged MPC with Smooth Neural Surrogates
Samuel A. Moore, Easop Lee, Boyuan Chen
Deep learning and model predictive control (MPC) can play complementary roles in legged robotics. However, integrating learned models with online planning remains challenging. When…
Sym2Real: Symbolic Dynamics with Residual Learning for Data-Efficient Adaptive Control
Easop Lee, Samuel A. Moore, Boyuan Chen
We present Sym2Real, a fully data-driven framework for highly data-efficient adaptation of low-level controllers. Although symbolic regression is data-efficient, its role in real-w…
LAPP: Large Language Model Feedback for Preference-Driven Reinforcement Learning
Pingcheng Jian, Xiao Wei, Yanbaihui Liu +3
We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisit…