Robust Humanoid Locomotion Using Trajectory Optimization And Sample Efficient Learning

Summary

The main idea of this work is to NVIDIA researchers present a hierarchical framework that combines model-based control and reinforcement 6.8210 Underactuated Robotics Final Project In which we make a In this AI Research Roundup episode, Alex discusses the paper: ' Preprint: arxiv.org/pdf/2211.12849.pdf Code: ... ICRA 2021 Best Automation Paper Award Finalist. Paper, video, open-source code, slides and more: awinkler.me Intro: 00:29 - Why Legged Robots? 01:15 - Context of ... In this work we present a general, two-stage reinforcement Stepping strategy, including step time and step location modulation, and hip strategy, i.e., upper-bod movement, play crucial roles ... Final Project for MIT 6.832 - Underactuated Robotics. Video for our IEEE Robotics and Automation Letters (RA-L) 2025 paper: "Contact-Implicit Whole-Body This work is led by Luke Drnach from the LIDAR group. We proposed a In this work, we present SPARK, a pipeline for retargeting human motion to