2 papers
cs.RO2026
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…
cs.RO2025
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si, Jose Enrique Chen, M. Emre Karagozler +15
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This…