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…
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Yukai Gong, Ross Hartley, Xingye Da +4
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This…
Combining Trajectory Optimization, Supervised Machine Learning, and Model Structure for Mitigating the Curse of Dimensionality in the Control of Bipedal Robots
Xingye Da, Jessy Grizzle
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The…