6 papers
Building Gradient by Gradient: Decentralised Energy Functions for Bimanual Robot Assembly
Alexander L. Mitchell, Joe Watson, Ingmar Posner
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and…
Offline Adaptation of Quadruped Locomotion using Diffusion Models
Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu +2
We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) o…
Task and Joint Space Dual-Arm Compliant Control
Alexander L. Mitchell, Tobit Flatscher, Ingmar Posner
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant frictio…
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping
Jun Yamada, Alexander L. Mitchell, Jack Collins +1
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constrain…
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Vassil Atanassov, Wanming Yu, Alexander Luis Mitchell +2
Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use…
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou +2
The current state-of-the-art in quadruped locomotion is able to produce a variety of complex motions. These methods either rely on switching between a discrete set of skills or lea…