8 citations · 16 across the 3 of their papers we have counts for
4 papers · 1 filter
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…