Robotics

Legged Locomotion with Graph Neural Network Policies

Proposing structured control policies for locomotion tasks via graph neural networks based on the robot configuration morphology.

Legged Locomotion with Graph Neural Network Policies

Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

Proposing a cooperative generative adversarial method for obtaining controllable skill sets from unlabeled datasets containing diverse state transition patterns.

Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Proposing a generative adversarial method for inferring reward functions from partial and potentially physically incompatible demonstrations for successful skill acquirement where reference or expert demonstrations are not easily accessible.

Object Manipulation via Hierarchical Reinforcement Learning Control

Employing a hierarchical control method to achieve complex high-level tasks by integrating locomotion and manipulation skills.

Object Manipulation via Hierarchical Reinforcement Learning Control

Autonomous Pose Tracking with Compositional Reinforcement Learning Policies

Employing a novel compositional control structure to allow legged systems to achieve full-pose trajectory tracking in a global coordinate system by integrating learned skills.

Autonomous Pose Tracking with Compositional Reinforcement Learning Policies

Hierarchical Deep Reinforcement Learning for Legged Robot Navigation

Learning to utilize learned low-level skills in high-level tasks by considering only high-level objectives.

Hierarchical Deep Reinforcement Learning for Legged Robot Navigation

State Estimation with Particle Filter for Mobile Robot Pose Tracking

Tracking system states with general nonlinear system and general noise distributions with Particle Filter.

State Estimation with Particle Filter for Mobile Robot Pose Tracking

Wheeled Platform Integration for Search and Rescue Applications

Developing algorithmic components for a wheeled autonomous mobile platform that operates autonomously in search and rescue scenarios.

Wheeled Platform Integration for Search and Rescue Applications

Boids Behavior Control

Developing control algorithms that simulate the flocking behavior of Boids.

Boids Behavior Control

Inverse Kinematics Locomotion Control for a Legged Robot

Finding desired joint angles in trajectory tracking problems with inverse kinematic control.

Inverse Kinematics Locomotion Control for a Legged Robot