7 papers
Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
Amir Hossain Raj, Dibyendu Das, Xuesu Xiao
Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However…
MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfer
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
Generalizing learned locomotion policies across quadrupedal robots with different morphologies remains a challenge. Policies trained on a single robot often fail when deployed on e…
TransCurriculum: Multi-Dimensional Curriculum Learning for Fast & Stable Locomotion
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
High-speed legged locomotion struggles with stability and transfer losses at higher command velocities during deployment. One reason is that most curricula vary difficulty along si…
HACL: History-Aware Curriculum Learning for Fast Locomotion
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
We address the problem of agile and rapid locomotion, a key characteristic of quadrupedal and bipedal robots. We present a new algorithm that maintains stability and generates high…
Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization
Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen +3
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Mode…
McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
We present Morphology-Control-Aware Reinforcement Learning (McARL), a new approach to overcome challenges of hyperparameter tuning and transfer loss, enabling generalizable locomot…