Mack Tang — accepted AI-conference papers

2024

StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe

Nisal Perera, Shangqun Yu, Daniel Marew, Mack Tang, Ken Suzuki, Aidan McCormack +3

IROS 2024poster

We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg. Leveraging the foundational design of HyperLeg’s lower leg…

Cited by 1 Source ↗Scholar ↗

2023

SACPlanner: Real-World Collision Avoidance with a Soft Actor Critic Local Planner and Polar State Representations

Khaled Nakhleh, Minahil Raza, Mack Tang, Matthew Andrews, Rinu Boney, Ilija Hadžić +3

ICRA 2023poster

We study the training performance of ROS local planners based on Reinforcement Learning (RL), and the trajectories they produce on real-world robots. We show that recent enhancements to the Soft Actor Critic (SAC) algorithm such as RAD and DrQ achieve almost perfect training after only 10000 episode…

Cited by 10 Source ↗Scholar ↗