103 citations · 300 across the 18 of their papers we have counts for
4 papers · 1 filter
A New Data Source for Inverse Dynamics Learning
Daniel Kappler, Franziska Meier, Nathan Ratliff +1
Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, ada…
Unsupervised Contact Learning for Humanoid Estimation and Control
Nicholas Rotella, Stefan Schaal, Ludovic Righetti
This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for trai…
Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets
Karol Hausman, Yevgen Chebotar, Stefan Schaal +2
Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalabili…
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints
Sean Mason, Nicholas Rotella, Stefan Schaal +1
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algori…