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Learning Steerable Imitation Controllers From Unstructured Animal Motions
ArXiv
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Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
7th Annual Conference on Robot Learning (CoRL 2023)
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RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
IEEE Robotics and Automation Letters (RA-L)
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Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
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Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
ICRA 2022 - 6th Full-Day Workshop on Legged Robots