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09/18/2023
Prompt a Robot to Walk with Large Language Models
Large language models (LLMs) pre-trained on vast internet-scale data hav...
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03/06/2023
Learning Humanoid Locomotion with Transformers
We present a sim-to-real learning-based approach for real-world humanoid...
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08/23/2022
Probabilistic Safe Online Learning with Control Barrier Functions
Learning-based control schemes have recently shown great efficacy perfor...
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01/04/2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments
Control barrier functions (CBFs) have become a popular tool to enforce s...
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06/13/2021
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty
Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) a...
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11/14/2020
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects
This paper presents a method to design a min-norm Control Lyapunov Funct...
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08/01/2020
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
The feet of robots are typically used to design locomotion strategies, s...
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07/22/2020
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
The optimal performance of robotic systems is usually achieved near the ...
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07/26/2019