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09/14/2023
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
Differential Dynamic Programming (DDP) is an efficient computational too...
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06/16/2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller
We present CAJun, a novel hierarchical learning and control framework th...
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06/15/2023
Datasets and Benchmarks for Offline Safe Reinforcement Learning
This paper presents a comprehensive benchmarking suite tailored to offli...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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05/24/2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Animals have evolved various agile locomotion strategies, such as sprint...
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05/01/2023
IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience
We present IndoorSim-to-OutdoorReal (I2O), an end-to-end learned visual ...
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04/17/2023
Continuous Versatile Jumping Using Learned Action Residuals
Jumping is essential for legged robots to traverse through difficult ter...
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02/14/2023
Constrained Decision Transformer for Offline Safe Reinforcement Learning
Safe reinforcement learning (RL) trains a constraint satisfaction policy...
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02/02/2023
Mnemosyne: Learning to Train Transformers with Transformers
Training complex machine learning (ML) architectures requires a compute ...
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10/19/2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
We propose a framework to enable multipurpose assistive mobile robots to...
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09/28/2022
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
Specialized motions such as jumping are often achieved on quadruped robo...
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09/28/2022
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
Reinforcement Learning (RL) has witnessed great strides for quadruped lo...
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09/22/2022
Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation
Despite decades of research, existing navigation systems still face real...
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09/19/2022
Gesture2Path: Imitation Learning for Gesture-aware Navigation
As robots increasingly enter human-centered environments, they must not ...
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08/22/2022
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The BARN Challenge at ICRA 2022
The BARN (Benchmark Autonomous Robot Navigation) Challenge took place at...
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07/27/2022
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
Evolution Strategy (ES) algorithms have shown promising results in train...
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06/27/2022
Learning Semantics-Aware Locomotion Skills from Human Demonstration
The semantics of the environment, such as the terrain type and property,...
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03/28/2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
Training a high-dimensional simulated agent with an under-specified rewa...
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03/05/2022
Safe Reinforcement Learning for Legged Locomotion
Designing control policies for legged locomotion is complex due to the u...
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04/09/2021
Fast and Efficient Locomotion via Learned Gait Transitions
We focus on the problem of developing efficient controllers for quadrupe...
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01/15/2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning
As learning-based approaches progress towards automating robot controlle...
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04/02/2020
Learning Agile Robotic Locomotion Skills by Imitating Animals
Reproducing the diverse and agile locomotion skills of animals has been ...
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03/15/2020
Cooperation without Coordination: Hierarchical Predictive Planning for Decentralized Multiagent Navigation
Decentralized multiagent planning raises many challenges, such as adapti...
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10/07/2019
Policies Modulating Trajectory Generators
We propose an architecture for learning complex controllable behaviors b...
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09/27/2019
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation
Imitation learning is a popular approach for training effective visual n...
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07/08/2019
Data Efficient Reinforcement Learning for Legged Robots
We present a model-based framework for robot locomotion that achieves wa...
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04/27/2018