4 papers
Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning
Sangwoo Shin, Kunzhao Ren, Xiaobin Xiong +1
Recent work in reinforcement learning has shown that incorporating structural priors for articulated robots, such as link connectivity, into policy networks improves learning effic…
Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization
Hanwen Wang, Zhenlong Fang, Josiah Hanna +1
In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-whee…
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
Hanwen Wang, Qiayuan Liao, Bike Zhang +3
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limi…
Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Jiarong Kang, Xiaobin Xiong
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and…