1 citations · 6 across the 19 of their papers we have counts for
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Learning Soft Robotic Dynamics with Active Exploration
Hehui Zheng, Bhavya Sukhija, Chenhao Li +3
Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriousl…
MetaLoco: Universal Quadrupedal Locomotion with Meta-Reinforcement Learning and Motion Imitation
Fatemeh Zargarbashi, Fabrizio Di Giuro, Jin Cheng +3
This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms.…
Bridging the Sim-to-Real Gap with Bayesian Inference
Jonas Rothfuss, Bhavya Sukhija, Lenart Treven +3
We present SIM-FSVGD for learning robot dynamics from data. As opposed to traditional methods, SIM-FSVGD leverages low-fidelity physical priors, e.g., in the form of simulators, to…
Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
Daniel Widmer, Dongho Kang, Bhavya Sukhija +3
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe le…