10 citations · 14 across the 4 of their papers we have counts for
4 papers · 1 filter
Learning Complex Motion Plans using Neural ODEs with Safety and Stability Guarantees
Farhad Nawaz, Tianyu Li, Nikolai Matni +1
We propose a Dynamical System (DS) approach to learn complex, possibly periodic motion plans from kinesthetic demonstrations using Neural Ordinary Differential Equations (NODE). To…
Learning and Adapting Agile Locomotion Skills by Transferring Experience
Laura Smith, J. Chase Kew, Tianyu Li +5
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly…
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments
Jeonghwan Kim, Tianyu Li, Sehoon Ha
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based f…
FastMimic: Model-based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion
Tianyu Li, Jungdam Won, Sehoon Ha +1
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit…