Robotics

Robust state estimation for highly dynamic motion of legged robots remains challenging, especially in dynamic, contact-rich scenarios. Traditional approaches often rely on binary contact states that fail to capture the nuances of partial contact or directional slippage. This paper presents CoCo-InEKF, a differentiable invariant extended Kalman filter that utilizes continuous contact velocity covariances instead of binary contact states.

We propose to create autonomous interactive robots, by training a model to imitate operator data.

We introduce a novel method that integrates kinematic generative models with physics based character control. Our approach begins by training a reward surrogate to predict the performance of the downstream non-differentiable control task, offering an efficient and differentiable loss function.

We present a pipeline for fusing text and audio features to extract and re-use user information like names with the correct pronunciation.

In this paper, we propose a technique that simultaneously solves for optimal design and control parameters for a robotic character whose design is parameterized with configurable joints. At the technical core of our technique is an efficient solution strategy that uses dynamic programming to solve for optimal state, control, and design parameters, together with a strategy to remove redundant constraints that commonly exist in general robot assemblies with kinematic loops.

We propose to augment common simulation representations with a transformer-inspired architecture, by training a network to predict the true state of robot building blocks given their simulation state. Because we augment building blocks, rather than the full simulation state, we make our approach modular which improves generalizability and robustness.

Legged robots are designed to perform highly dynamic motions. However, it remains challenging for users to retarget expressive motions onto these complex systems. In this paper, we present a Differentiable Optimal Control (DOC) framework that facilitates the transfer of rich motions from either animals or animations onto these robots.