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06/29/2023
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-popu...
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06/24/2023
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism
This paper explores the principles for transforming a quadrupedal robot ...
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05/24/2023
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters
Motion retargeting is a promising approach for generating natural and co...
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04/01/2023
Adaptive Skill Coordination for Robotic Mobile Manipulation
We present Adaptive Skill Coordination (ASC) - an approach for accomplis...
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03/28/2023
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments
Generating natural and physically feasible motions for legged robots has...
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03/27/2023
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation
Learning various motor skills for quadrupedal robots is a challenging pr...
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03/23/2023
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning
As robots become more prevalent, optimizing their design for better perf...
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03/16/2023
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots
The light and soft characteristics of Buoyancy Assisted Lightweight Legg...
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03/14/2023
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum
In-hand object manipulation is challenging to simulate due to complex co...
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12/17/2022
Cascaded Compositional Residual Learning for Complex Interactive Behaviors
Real-world autonomous missions often require rich interaction with nearb...
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10/26/2022
ViNL: Visual Navigation and Locomotion Over Obstacles
We present Visual Navigation and Locomotion over obstacles (ViNL), which...
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09/12/2022
Unified State Representation Learning under Data Augmentation
The capacity for rapid domain adaptation is important to increasing the ...
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04/28/2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
A motion-based control interface promises flexible robot operations in d...
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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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10/11/2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
Legged robots are physically capable of traversing a wide range of chall...
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09/29/2021
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning
One of the key challenges to deep reinforcement learning (deep RL) is to...
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09/27/2021
Model-based Motion Imitation for Agile, Diverse and Generalizable Quadupedal Locomotion
Robots operating in human environments need a variety of skills, like sl...
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09/27/2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning
We present a two-staged deep reinforcement learning algorithm for solvin...
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09/26/2021
Finite State Machine Policies Modulating Trajectory Generator
Deep reinforcement learning (deep RL) has emerged as an effective tool f...
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09/22/2021
Learning Robust Agents for Visual Navigation in Dynamic Environments: The Winning Entry of iGibson Challenge 2021
This paper presents an approach for improving navigation in dynamic and ...
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09/21/2021
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning
We introduce a novel method to teach a robotic agent to interactively ex...
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09/15/2021
Learning Robot Structure and Motion Embeddings using Graph Neural Networks
We propose a learning framework to find the representation of a robot's ...
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09/12/2021
Learning to Navigate Sidewalks in Outdoor Environments
Outdoor navigation on sidewalks in urban environments is the key technol...
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03/14/2021
Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation
We present Success weighted by Completion Time (SCT), a new metric for e...
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03/13/2021
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments
Simulation provides a safe and efficient way to generate useful data for...
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11/06/2020
Learning Human Search Behavior from Egocentric Visual Inputs
"Looking for things" is a mundane but critical task we repeatedly carry ...
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11/06/2020
A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning
Target-driven visual navigation is a challenging problem that requires a...
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11/02/2020
Observation Space Matters: Benchmark and Optimization Algorithm
Recent advances in deep reinforcement learning (deep RL) enable research...
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10/27/2020
Learning to be Safe: Deep RL with a Safety Critic
Safety is an essential component for deploying reinforcement learning (R...
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02/20/2020
Learning to Walk in the Real World with Minimal Human Effort
Reliable and stable locomotion has been one of the most fundamental chal...
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09/28/2019
Learning Fast Adaptation with Meta Strategy Optimization
The ability to walk in new scenarios is a key milestone on the path towa...
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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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09/23/2019
Learning a Control Policy for Fall Prevention on an Assistive Walking Device
Fall prevention is one of the most important components in senior care. ...
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12/26/2018
Learning to Walk via Deep Reinforcement Learning
Deep reinforcement learning suggests the promise of fully automated lear...
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12/13/2018