Anyskill: Learning open-vocabulary physical skill for interactive agents
Traditional approaches in physics-based motion generation centered around imitation
learning and reward sha** often struggle to adapt to new scenarios. To tackle this …
learning and reward sha** often struggle to adapt to new scenarios. To tackle this …
Tailoring solution accuracy for fast whole-body model predictive control of legged robots
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC),
it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots …
it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots …
Walking-by-logic: Signal temporal logic-guided model predictive control for bipedal locomotion resilient to external perturbations
This study proposes a novel planning framework based on a model predictive control
formulation that incorporates signal temporal logic (STL) specifications for task completion …
formulation that incorporates signal temporal logic (STL) specifications for task completion …
Robust-locomotion-by-logic: Perturbation-resilient bipedal locomotion via signal temporal logic guided model predictive control
This study introduces a robust planning framework that utilizes a model predictive control
(MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This …
(MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This …
Safety-critical coordination for cooperative legged locomotion via control barrier functions
This paper presents a safety-critical approach to the coordinated control of cooperative
robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage …
robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage …
Hierarchical relaxation of safety-critical controllers: Mitigating contradictory safety conditions with application to quadruped robots
The safety-critical control of robotic systems often must account for multiple, potentially
conflicting, safety constraints. This paper proposes novel relaxation techniques to address …
conflicting, safety constraints. This paper proposes novel relaxation techniques to address …
Reinforcement learning for reduced-order models of legged robots
Model-based approaches for planning and control for bipedal locomotion have a long
history of success. It can provide stability and safety guarantees while being effective in …
history of success. It can provide stability and safety guarantees while being effective in …
Constraint-guided online data selection for scalable data-driven safety filters in uncertain robotic systems
As the use of autonomous robots expands in tasks that are complex and challenging to
model, the demand for robust data-driven control methods that can certify safety and stability …
model, the demand for robust data-driven control methods that can certify safety and stability …
Safe control for soft-rigid robots with self-contact using control barrier functions
Incorporating both flexible and rigid components in robot designs offers a unique solution to
the limitations of traditional rigid robotics by enabling both compliance and strength. This …
the limitations of traditional rigid robotics by enabling both compliance and strength. This …
A data-driven method for safety-critical control: Designing control barrier functions from state constraints
This paper addresses the challenge of integrating explicit hard constraints into the control
barrier function (CBF) framework for ensuring safety in autonomous systems, including …
barrier function (CBF) framework for ensuring safety in autonomous systems, including …