51 citations · 61 across the 8 of their papers we have counts for
8 papers
Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
Martin Schuck, Maks Sorokin, Simone Manni +5
Integrating locomotion and manipulation is essential for robot autonomy, but scaling standard Reinforcement Learning (RL) to complex tasks is severely bottlenecked by the slow, man…
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
John Z. Zhang, Maks Sorokin, Jan Brüdigam +14
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by perfor…
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin +7
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks re…
Single-Level Differentiable Contact Simulation
Simon Le Cleac'h, Mac Schwager, Zachary Manchester +3
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approach…
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy +1
We present a new solver for non-convex trajectory optimization problems that is specialized for robotics applications. CALIPSO, or the Conic Augmented Lagrangian Interior-Point SOl…
Trajectory Optimization with Optimization-Based Dynamics
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh +3
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of t…
Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h, Taylor Howell, Shuo Yang +5
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes li…
ALGAMES: A Fast Solver for Constrained Dynamic Games
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
Dynamic games are an effective paradigm for dealing with the control of multiple interacting actors. This paper introduces ALGAMES (Augmented Lagrangian GAME-theoretic Solver), a s…