4 papers · 1 filter
X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies
Ritwik Sharma, Shivam Sood, Arhaan Jain +3
Recent progress in humanoid behavior models has been driven in large part by abundant human motion data, but comparable motion data is scarce for non-humanoid legged robots such as…
APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots
Shivam Sood, Laukik Nakhwa, Sun Ge +7
Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. Despite the recent advancements in motion tracking, most existing method…
APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots
Shivam Sood, Laukik Nakhwa, Sun Ge +7
Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. While motion tracking can reproduce reference gaits, many approaches sti…
DecAP: Decaying Action Priors for Accelerated Imitation Learning of Torque-Based Legged Locomotion Policies
Shivam Sood, Ge Sun, Peizhuo Li +1
Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to t…