3 papers
cs.RO2025
Diffusion-based Planning with Learned Viability Filters
Nicholas Ioannidis, Daniele Reda, Setareh Cohan +1
Diffusion models can be used as a motion planner by sampling from a distribution of possible futures. However, the samples may not satisfy hard constraints that exist only implicit…
cs.RO2024
Learning-based legged locomotion; state of the art and future perspectives
Sehoon Ha, Joonho Lee, Michiel van de Panne +3
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advan…
cs.RO2023
Hierarchical Planning and Control for Box Loco-Manipulation
Zhaoming Xie, Jonathan Tseng, Sebastian Starke +2
Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We p…