Locomotion

Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning
Efficient and robust policy learning through novel Articulated-Body Dynamics Network (ABD-NET).
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Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning
DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control
Novel Hybrid Mobile Robot and Locomotion-Mode Implicit Control via MPC.
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DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
Human-to-humanoid motion retargeting via kinematics alignment and Kinodynamic trajectory optimization
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SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization