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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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06/23/2023
Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions
In this paper, we focus on non-conservative obstacle avoidance between r...
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04/17/2023
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
Obstacle avoidance for multi-robot navigation with polytopic shapes is c...
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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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02/28/2023
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments
This work introduces a novel control strategy called Iterative Linear Qu...
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02/19/2023
Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning
This work aims to push the limits of agility for bipedal robots by enabl...
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01/27/2023
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States
Learning-based control approaches have shown great promise in performing...
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12/29/2022
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
This paper presents a safety-critical locomotion control framework for q...
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10/10/2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
We present a reinforcement learning (RL) framework that enables quadrupe...
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10/09/2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Safety is one of the fundamental challenges in control theory. Recently,...
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09/12/2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Recent years have seen a surge in commercially-available and affordable ...
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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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08/13/2022
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
Recent advances in the reinforcement learning (RL) literature have enabl...
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08/01/2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot
We address the problem of enabling quadrupedal robots to perform precise...
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06/29/2022
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
This paper tackles the problem of robots collaboratively towing a load w...
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05/11/2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Bridging model-based safety and model-free reinforcement learning (RL) f...
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03/15/2022
Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments
Tethered quadcopters are used for extended flight operations where the n...
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03/04/2022
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
In this paper, we propose a multi-domain control parameter learning fram...
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03/04/2022
Teaching Robots to Span the Space of Functional Expressive Motion
Our goal is to enable robots to perform functional tasks in emotive ways...
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01/21/2022
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Contact-rich robotic systems, such as legged robots and manipulators, ar...
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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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12/13/2021
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions
This paper presents a novel planning and control strategy for competing ...
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09/25/2021
A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes
Obstacle avoidance between polytopes is a challenging topic for optimal ...
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07/18/2021
A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Developing controllers for obstacle avoidance between polytopes is a cha...
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07/01/2021
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Quadrupeds are strong candidates for navigating challenging environments...
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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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05/21/2021
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Safety is one of the fundamental problems in robotics. Recently, one-ste...
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04/09/2021
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update
This paper proposes a state estimator for legged robots operating in sli...
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03/26/2021
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
An autonomous robot that is able to physically guide humans through narr...
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03/26/2021
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots
Developing robust walking controllers for bipedal robots is a challengin...
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01/15/2021
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability
Autonomous systems like aircraft and assistive robots often operate in s...
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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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09/07/2020
Animated Cassie: A Dynamic Relatable Robotic Character
Creating robots with emotional personalities will transform the usabilit...
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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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05/14/2020
Optimal Robust Safety-Critical Control for Dynamic Robotics
We present a novel method of optimal robust control through quadratic pr...
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04/16/2020
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions
In this paper, the issue of model uncertainty in safety-critical control...
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04/15/2020
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
The main drawbacks of input-output linearizing controllers are the need ...
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03/09/2020
Staging energy sources to extend flight time of a multirotor UAV
Energy sources such as batteries do not decrease in mass after consumpti...
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11/28/2019
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
Using quadrotors UAVs for cooperative payload transportation using cable...
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07/26/2019
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot
Motivated towards achieving multi-modal locomotion, in this paper, we de...
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02/22/2018
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
This paper presents a design methodology for feedback control policy tha...
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12/04/2017