From the 1 of 11 linked papers with an AI index.
21 citations · 21 across the 4 of their papers we have counts for
11 papers
DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion
Sanghyun Park, Moonkyu Jung, Jemin Hwangbo
Stable quadrupedal locomotion on sparse terrain requires selecting state-relevant terrain evidence for precise foot placement. Model-based foothold planners provide precise foothol…
TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions
Taehyeon Kong, Woojin Kim, Jemin Hwangbo
In this paper, we present TRACE (Tokenized Robust Attention for Contact-Aware Estimation), an end-to-end learned proprioceptive odometry estimator for legged robots under unreliabl…
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
The paper introduces a hierarchical whole-body control framework for quadrupedal robots with a 6‑DoF arm, using a Kinematic Normalizing Flow to generate partial reference motions a…
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim +3
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a nove…
Learning Dynamic Pick-and-Place for a Legged Manipulator
Moonkyu Jung, Jiseong Lee, Zhengmao He +8
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while…
Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
Minho Lee, Hyeonseok Kim, Jin Tak Kim +4
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and comp…