12 papers
Spline Policy: A Structured Representation for Robot Policies
Mengze Tian, Yiming Li, Sichao Liu +2
Modern imitation-learning policies for robot manipulation often represent actions as fixed-resolution action chunks, which are simple and effective but expose limited geometric and…
Polymander II: an amphibious salamander-inspired robot with contact and flow sensors
Qiyuan Fu, Sudong Lee, Andrea Grillo +4
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. How…
Tethering and depth of submergence affect the swimming performance of undulatory robots
Alexandros Anastasiadis, Auke J. Ijspeert, Karen Mulleners
Over the past few decades, biomimetic robotic experiments have significantly advanced our understanding of undulatory swimming. Compared to animal experiments, robotic experiments…
Integrative neurocybernetic modeling in the era of large-scale neuroscience
Il Memming Park, Ayesha Vermani, Gonzalo G. de Polavieja +11
Large-scale neuroscience is generating rich datasets across animals, brain areas and behavioral contexts, yet our modeling efforts remains fragmented across isolated experiments. W…
Learning Whole-Body Control for a Salamander Robot
Mengze Tian, Qiyuan Fu, Chuanfang Ning +2
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers…
Geometry-aware Policy Imitation
Yiming Li, Nael Darwiche, Amirreza Razmjoo +4
We propose a Geometry-aware Policy Imitation (GPI) approach that rethinks imitation learning by treating demonstrations as geometric curves rather than collections of state-action…