5 papers
Around the World: Unified Learned Locomotion on a 270 g Continuous-Rotation Quadruped
Arturo Flores Alvarez, Nathan Lintu, Dennis Hong
Closed-loop learned locomotion is established on commercial quadrupeds but remains uncommon at the sub-kilogram scale. Continuous-rotation legs give MiNI-Q, a 270 g quadruped, acce…
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
Jake Gonzales, Arturo Flores Alvarez, Yu-Ming Chen +3
Safe whole-body control requires coordinating collision avoidance and balance under high-dimensional, nonlinear dynamics--making safety certificates difficult to design and reuse a…
A Hierarchical, Model-Based System for High-Performance Humanoid Soccer
Quanyou Wang, Mingzhang Zhu, Ruochen Hou +16
The development of athletic humanoid robots has gained significant attention as advances in actuation, sensing, and control enable increasingly dynamic, real-world capabilities. Ro…
Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids
Arturo Flores Alvarez, Fatemeh Zargarbashi, Havel Liu +7
We present a Reinforcement Learning (RL)-based locomotion system for Cosmo, a custom-built humanoid robot designed for entertainment applications. Unlike traditional humanoids, ent…
From Screen to Stage: Kid Cosmo, A Life-Like, Torque-Controlled Humanoid for Entertainment Robotics
Havel Liu, Mingzhang Zhu, Arturo Moises Flores Alvarez +8
Humanoid robots represent the cutting edge of robotics research, yet their potential in entertainment remains largely unexplored. Entertainment as a field prioritizes visuals and f…