2 papers
cs.RO2026
SCDP: Learning Humanoid Locomotion from Partial Observations via Mixed-Observation Distillation
Milo Carroll, Tianhu Peng, Lingfan Bao +2
Distilling humanoid locomotion control from offline datasets into deployable policies remains a challenge, as existing methods rely on privileged full-body states that require comp…
cs.RO2023
Agile and Versatile Robot Locomotion via Kernel-based Residual Learning
Milo Carroll, Zhaocheng Liu, Mohammadreza Kasaei +1
This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Initially, a kernel neural network is trained with data collected from an MPC con…