10 citations · 17 across the 4 of their papers we have counts for
5 papers
Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
Yangzhi Yang, Xiansheng Lin, Zhaoming Xie +1
Humanoid robots could transport payloads substantially heavier than themselves by pulling passive wheeled vehicles instead of carrying the load. This capability, however, creates a…
Learning Smooth Time-Varying Linear Policies with an Action Jacobian Penalty
Zhaoming Xie, Kevin Karol, Jessica Hodgins
Reinforcement learning provides a framework for learning control policies that can reproduce diverse motions for simulated characters. However, such policies often exploit unnatura…
Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
David Nguyen, Zulfiqar Zaidi, Kevin Karol +2
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robo…
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
Rohan P. Singh, Mitsuharu Morisawa, Mehdi Benallegue +2
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected de…
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Zhaoyuan Gu, Junheng Li, Wenlan Shen +15
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine lear…