6 accepted papers
Control policies trained using deep reinforcement learning often generate stiff, high-frequency motions in response to unexpected disturbances. To promote more natural and compliant balance recovery strategies, we propose a simple modification to the typical reinforcement learning training process.…
Precise reconstruction and manipulation of the crumpled cloths is challenging due to the high dimensionality of cloth models, as well as the limited observation at self-occluded regions. We leverage the recent progress in the field of single-view reconstruction to template-based reconstruct the crum…
Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can only be captured to a limited extent. An alternative approach i…
This letter presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand reference motions generated through finite-horizon optimal co
A variety of control tasks such as inverse kinematics (IK), trajectory optimization (TO), and model predictive control (MPC) are commonly formulated as energy minimization problems. Numerical solutions to such problems are well-established. However, these are often too slow to be used directly in re
We present an optimization framework for grasp and motion planning in the context of robotic assembly. Typically, grasping locations are provided by higher level planners or as input parameters. In contrast, our mathematical model simultaneously optimizes motion trajectories, grasping locations, and