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09/08/2023
Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion
The estimation of external joint torque and contact wrench is essential ...
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07/25/2023
A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies
The robust balancing capability of humanoid robots against disturbances ...
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04/19/2023
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer
In this paper, we review the question of which action space is best suit...
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09/01/2022
NODE IK: Solving Inverse Kinematics with Neural Ordinary Differential Equations for Path Planning
This paper proposes a novel inverse kinematics (IK) solver of articulate...
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02/21/2022
Vision-based Autonomous Driving for Unstructured Environments Using Imitation Learning
Unstructured environments are difficult for autonomous driving. This is ...
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01/10/2022