3 citations · 9 across the 6 of their papers we have counts for
6 papers
NaVILA: Legged Robot Vision-Language-Action Model for Navigation
An-Chieh Cheng, Yandong Ji, Zhaojing Yang +7
This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robo…
Learning Force Control for Legged Manipulation
Tifanny Portela, Gabriel B. Margolis, Yandong Ji +1
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich p…
Expressive Whole-Body Control for Humanoid Robots
Xuxin Cheng, Yandong Ji, Junming Chen +3
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic h…
RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation
Guoping Pan, Qingwei Ben, Zhecheng Yuan +6
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the…
Visual Whole-Body Control for Legged Loco-Manipulation
Minghuan Liu, Zixuan Chen, Xuxin Cheng +4
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an…
Learning to See Physical Properties with Active Sensing Motor Policies
Gabriel B. Margolis, Xiang Fu, Yandong Ji +1
Knowledge of terrain's physical properties inferred from color images can aid in making efficient robotic locomotion plans. However, unlike image classification, it is unintuitive…