45 citations · 106 across the 35 of their papers we have counts for
4 papers · 2 filters
Imitation Learning via Discrete and Rhythmic Primitive Composition
Rafid Saif, Auke Ijspeert, Hsiu-Chin Lin
Long-horizon robotic manipulation is inherently composed of semantically meaningful sub-tasks. While Movement Primitives (MPs) can model these components, their composition typical…
Spline Policy: A Structured Representation for Robot Policies
Mengze Tian, Yiming Li, Sichao Liu +2
Modern imitation-learning policies for robot manipulation often represent actions as fixed-resolution action chunks, which are simple and effective but expose limited geometric and…
Polymander II: an amphibious salamander-inspired robot with contact and flow sensors
Qiyuan Fu, Sudong Lee, Andrea Grillo +4
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. How…
Learning Whole-Body Control for a Salamander Robot
Mengze Tian, Qiyuan Fu, Chuanfang Ning +2
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers…