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Towards Embodiment Scaling Laws in Robot Locomotion
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors …
Bo Ai, Liu Dai, Nico Bohlinger, Dichen Li, Tongzhou Mu, Zhanxin Wu, Kehlani Fay, Henrik I Christensen, Jan Peters, Hao Su
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Towards Embodiment Scaling Laws in Robot Locomotion
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Cross-embodiment learning seeks to build gen- eralist robots that operate across diverse morphologies, but differences in action spaces …
Zihao_He, Bo Ai, Tongzhou Mu, Yulin Liu, Weikang Wan, Jiawei Fu, Yilun Du, Henrik I Christensen, Hao Su
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Scaling Cross-Embodiment World Models for Dexterous Manipulation
Quadruped Walking from Seconds of Demonstration
Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, …
Ruipeng Zhang, Hongzhan Yu, Ya-Chien Chang, Chenghao Li, Henrik I. Christensen, Sicun Gao
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Quadruped Walking from Seconds of Demonstration
Controllable Motion Generation via Diffusion Modal Coupling
Diffusion models are increasingly used in robotics to represent multi-modal distributions over system states and behaviors, but precise …
Luobin Wang, Hongzhan Yu, CHenning Yu, Sicun Gao, Henrik I Christensen
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Controllable Motion Generation via Diffusion Modal Coupling
CHASER: Robust Human Following on a Legged Robot Using Vision and Bluetooth
Human-following robots have achieved commercial adoption in structured indoor environments such as healthcare facilities, airports, and …
Julian Raheema, Connor Gag, Tyler Flar, Helena Bender Helena, Bender, Matthew Zheng, Kurt Talke, Ryan Kastner, Henrik Iskov Christensen
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CHASER: Robust Human Following on a Legged Robot Using Vision and Bluetooth
GAMMS: Graph based Adversarial Multiagent Modeling Simulator
As intelligent systems and multi-agent coordination become increasingly central to real-world applications, there is a growing need for …
Rohan Patil, Jai Malegaonkar, Xiao Jiang, Andre Dion, Gaurav S Sukhatme, Henrik I Christensen
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GAMMS: Graph based Adversarial Multiagent Modeling Simulator
Squint: Fast Visual Reinforcement Learning for Sim-to-Real Robotics
Visual reinforcement learning is appealing for robotics but expensive – off-policy methods are sample-efficient yet slow; …
Abdulaziz Almuzairee, Henrik I. Christensen
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Squint: Fast Visual Reinforcement Learning for Sim-to-Real Robotics
BridgeSim: Unveiling the OL-CL Gap in End-to-End Autonomous Driving
Open-loop (OL) to closed-loop (CL) gap (OL-CL gap) exists when OL-pretrained policies scoring high in OL evaluations fail to transfer …
Seth Z. Zhao, Luobin Wang, Hongwei Ruan, Yuxin Bao, Yilan Chen, Ziyang Leng, Abhijit Ravichandran, Honglin He, Zewei Zhou, Xu Han, Abhishek Peri, Zhiyu Huang, Pranav Desai, Henrik Christensen, Jiaqi Ma, Bolei Zhou
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BridgeSim: Unveiling the OL-CL Gap in End-to-End Autonomous Driving
ROSCOE: Robot Scanning and Computing Equipment for Autonomous Terrestrial Mapping
Autonomous task-oriented robots are increasingly in demand across various domains; however, few existing systems address the challenge …
Julian Raheema, Seth Farrell, Michael Hess, Raymond Provost, Mark Bilinski, Henrik I Christensen
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ROSCOE: Robot Scanning and Computing Equipment for Autonomous Terrestrial Mapping
Safe Human Robot Navigation in Warehouse Scenario
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics …
Seth Farrell, Chenghao Li, Hongzhan Yu, Ryo Yoshimitsu, Sicun Gao, Henrik I. Christensen
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Safe Human Robot Navigation in Warehouse Scenario