48 citations · 237 across the 29 of their papers we have counts for
5 papers · 1 filter
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries
Ayush Agrawal, Shuxiao Chen, Akshara Rai +1
In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback.…
Learning-based Initialization Strategy for Safety of Multi-Vehicle Systems
Jennifer C. Shih, Akshara Rai, Laurent El Ghaoui
Multi-vehicle collision avoidance is a highly crucial problem due to the soaring interests of introducing autonomous vehicles into the real world in recent years. The safety of the…
Learning Periodic Tasks from Human Demonstrations
Jingyun Yang, Junwu Zhang, Connor Settle +3
We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks.…
FastMimic: Model-based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion
Tianyu Li, Jungdam Won, Sehoon Ha +1
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit…
Efficient and Interpretable Robot Manipulation with Graph Neural Networks
Yixin Lin, Austin S. Wang, Eric Undersander +1
Manipulation tasks, like loading a dishwasher, can be seen as a sequence of spatial constraints and relationships between different objects. We aim to discover these rules from dem…