85 citations · 186 across the 8 of their papers we have counts for
13 papers · 1 filter
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
Maurice Rahme, Ian Abraham, Matthew L. Elwin +1
We present a sim-to-real framework that uses dynamics and domain randomized offline reinforcement learning to enhance open-loop gaits for legged robots, allowing them to traverse u…
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems
Alexander Broad, Ian Abraham, Todd Murphey +1
We present a data-driven shared control algorithm that can be used to improve a human operator's control of complex dynamic machines and achieve tasks that would otherwise be chall…
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
Ahalya Prabhakar, Ian Abraham, Annalisa Taylor +7
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design a…
Hybrid Control for Learning Motor Skills
Ian Abraham, Alexander Broad, Allison Pinosky +2
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capa…
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
Ian Abraham, Ankur Handa, Nathan Ratliff +3
This work addresses the problem of robot interaction in complex environments where online control and adaptation is necessary. By expanding the sample space in the free energy form…
An Ergodic Measure for Active Learning From Equilibrium
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
This paper develops KL-Ergodic Exploration from Equilibrium (), a method for robotic systems to integrate stability into actively generating informative measurements…