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09/07/2023
ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object...
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09/06/2023
Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains
In the realm of autonomous mobile robots, safe navigation through unpave...
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08/31/2023
Learning Whole-body Manipulation for Quadrupedal Robot
We propose a learning-based system for enabling quadrupedal robots to ma...
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08/24/2023
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
Several earlier studies have shown impressive control performance in com...
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05/28/2022
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
In this work, a non-gaited framework for legged system locomotion is pre...
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04/19/2022
Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation
For autonomous quadruped robot navigation in various complex environment...
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02/11/2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
In this paper, we propose a locomotion training framework where a contro...
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01/20/2022
Learning robust perceptive locomotion for quadrupedal robots in the wild
Legged robots that can operate autonomously in remote and hazardous envi...
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12/01/2021
D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions
We introduce the dynamic grasp synthesis task: given an object with a kn...
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10/21/2020
Learning Quadrupedal Locomotion over Challenging Terrain
Some of the most challenging environments on our planet are accessible t...
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01/24/2019
Learning agile and dynamic motor skills for legged robots
Legged robots pose one of the greatest challenges in robotics. Dynamic a...
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01/22/2019
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning
The ability to recover from a fall is an essential feature for a legged ...
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06/27/2018