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06/15/2023
Hierarchical Planning and Control for Box Loco-Manipulation
Humans perform everyday tasks using a combination of locomotion and mani...
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03/07/2023
Learning Bipedal Walking for Humanoids with Current Feedback
Recent advances in deep reinforcement learning (RL) based techniques com...
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10/03/2022
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors
Reinforcement Learning (RL) has seen many recent successes for quadruped...
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04/20/2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Model-free reinforcement learning (RL) for legged locomotion commonly re...
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11/04/2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion
Understanding the gap between simulation andreality is critical for rein...
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09/21/2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
We present a hierarchical framework that combines model-based control an...
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05/09/2020
ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills
Humans are highly adept at walking in environments with foot placement c...
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12/06/2019
Learning to Correspond Dynamical Systems
Correspondence across dynamical systems can lend us better tools for lea...
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03/22/2019
Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie
Deep reinforcement learning (DRL) is a promising approach for developing...
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03/15/2018