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09/05/2023
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
Legged robots exhibit significant potential across diverse applications,...
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05/20/2023
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search
The average reward criterion is relatively less studied as most existing...
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03/28/2023
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutio...
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09/23/2022
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
In this paper, we propose a new class of Control Barrier Functions (CBFs...
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08/22/2022
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking
Evolution Strategy (ES) is a powerful black-box optimization technique b...
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09/26/2021
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
In this work, we demonstrate robust walking in the bipedal robot Digit o...
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04/04/2021
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
In this paper, with a view toward deployment of light-weight control fra...
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12/26/2020
Imitation Learning for High Precision Peg-in-Hole Tasks
Industrial robot manipulators are not able to match the precision and sp...
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12/26/2020
Multi-Instance Aware Localization for End-to-End Imitation Learning
Existing architectures for imitation learning using image-to-action poli...
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12/26/2020
Stochastic Action Prediction for Imitation Learning
Imitation learning is a data-driven approach to acquiring skills that re...
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12/25/2020
Teaching Robots Novel Objects by Pointing at Them
Robots that must operate in novel environments and collaborate with huma...
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10/30/2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
In this paper, with a view toward fast deployment of locomotion gaits in...
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07/28/2020
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
With the research into development of quadruped robots picking up pace, ...
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01/01/2020
Local Stability of PD Controlled Bipedal Walking Robots
We establish stability results for PD tracking control laws in bipedal w...
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12/30/2019
Gait Library Synthesis for Quadruped Robots via Augmented Random Search
In this paper, with a view toward fast deployment of learned locomotion ...
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05/15/2019
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots
In this work, we provide a simulation framework to perform systematic st...
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01/03/2019
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch
In this paper, we present a complete description of the hardware design ...
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10/09/2018