129 citations · 889 across the 54 of their papers we have counts for
64 papers
Automated Gait Generation For Walking, Soft Robotic Quadrupeds
Jake Ketchum, Sophia Schiffer, Muchen Sun +3
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception…
Maximum diffusion reinforcement learning
Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
Robots and animals both experience the world through their bodies and senses. Their embodiment constrains their experiences, ensuring they unfold continuously in space and time. As…
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
Taosha Fan, Joseph Ortiz, Ming Hsiao +4
Scaling to arbitrarily large bundle adjustment problems requires data and compute to be distributed across multiple devices. Centralized methods in prior works are only able to sol…
Scale-Invariant Specifications for Human-Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky +9
We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution through…
Over-communicate no more: Situated RL agents learn concise communication protocols
Aleksandra Kalinowska, Elnaz Davoodi, Florian Strub +5
While it is known that communication facilitates cooperation in multi-agent settings, it is unclear how to design artificial agents that can learn to effectively and efficiently co…
A Game Benchmark for Real-Time Human-Swarm Control
Joel Meyer, Allison Pinosky, Thomas Trzpit +2
We present a game benchmark for testing human-swarm control algorithms and interfaces in a real-time, high-cadence scenario. Our benchmark consists of a swarm vs. swarm game in a v…