4 papers
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Jackson Habala, Gabriel B. Margolis, Tianyu Wang +8
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance.…
SoftMimic: Learning Compliant Whole-body Control from Examples
Gabriel B. Margolis, Michelle Wang, Nolan Fey +1
We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning…
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
Hao-Shu Fang, Branden Romero, Yichen Xie +9
We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. W…
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
Nolan Fey, Gabriel B. Margolis, Martin Peticco +1
Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards tha…