8 papers
Switch-JustDance: Benchmarking Whole Body Motion Tracking Controllers Using a Commercial Console Game
Jeonghwan Kim, Wontaek Kim, Yidan Lu +9
Recent advances in whole-body robot control have enabled humanoid and legged robots to perform increasingly agile and coordinated motions. However, standardized benchmarks for eval…
Walk Like Dogs: Learning Steerable Imitation Controllers for Legged Robots from Unlabeled Motion Data
Dongho Kang, Jin Cheng, Fatemeh Zargarbashi +3
We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automaticall…
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation
Yuanchen Yuan, Jin Cheng, Núria Armengol Urpà +1
Enabling legged robots to perform non-prehensile loco-manipulation is crucial for enhancing their versatility. Learning behaviors such as whole-body object pushing often requires s…
Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech
Taerim Yoon, Dongho Kang, Jin Cheng +5
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning throug…
Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation
Lukas Molnar, Jin Cheng, Gabriele Fadini +3
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both plannin…
TARC: Time-Adaptive Robotic Control
Arnav Sukhija, Lenart Treven, Jin Cheng +3
Fixed-frequency control in robotics imposes a trade-off between the efficiency of low-frequency control and the robustness of high-frequency control, a limitation not seen in adapt…