Search Results for author:
Found 7 papers, 4 papers with code
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
In this work, we advocate for integrating constraints into robot learning and present Constraints as Terminations (CaT), a novel constrained RL algorithm.
Torque Controlled Locomotion of a Biped Robot with Link Flexibility
The stabilizer and motion generator are designed together to ensure feasibility under the assumption of bounded errors.
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos
First, we introduce an approach to jointly estimate the motion and the actuation forces of the person on the manipulated object by modeling contacts and the dynamics of the interactions.
A Feasibility-Driven Approach to Control-Limited DDP
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization.
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP).
Robotics Optimization and Control
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the whole-body trajectory that follows the centroidal pattern.
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video
First, we introduce an approach to jointly estimate the motion and the actuation forces of the person on the manipulated object by modeling contacts and the dynamics of their interactions.
