32 citations · 74 across the 8 of their papers we have counts for
8 papers
Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
Xinghao Zhu, Zixi Liu, Shalin Jain +18
Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demonstrations to robot policies remains challenging. We present Contact…
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
Zhengyi Luo, Ye Yuan, Tingwu Wang +25
Despite the rise of billion-parameter foundation models trained across thousands of graphical processing units (GPUs), similar scaling gains have not been shown for humanoid contro…
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Zhaoming Xie, Xingye Da, Buck Babich +2
Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robo…
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion
Zhaoming Xie, Xingye Da, Michiel van de Panne +2
Understanding the gap between simulation and reality is critical for reinforcement learning with legged robots, which are largely trained in simulation. However, recent work has re…
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
Xingye Da, Zhaoming Xie, David Hoeller +5
We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The sy…
Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking
Yuan Gao, Xingye Da, Yan Gu
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pede…