4 papers
Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing
Zeji Yi, Chaoyi Pan, Guanya Shi +1
Sampling-based optimization (SBO), like cross-entropy method and evolutionary algorithms, has achieved many successes in solving non-convex problems without gradients, yet its conv…
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
John Z. Zhang, Taylor A. Howell, Zeji Yi +6
We demonstrate the surprising real-world effectiveness of a very simple approach to whole-body model-predictive control (MPC) of quadruped and humanoid robots: the iterative LQR (i…
Much Ado About Noising: Dispelling the Myths of Generative Robotic Control
Chaoyi Pan, Giri Anantharaman, Nai-Chieh Huang +8
Generative models, like flows and diffusions, have recently emerged as popular and efficacious policy parameterizations in robotics. There has been much speculation as to the facto…
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao +15
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a s…