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Disney Research

Robotics

Trajectory-based Probabilistic Policy Gradient for Learning Locomotion Behaviors

In this paper, we propose a trajectory-based reinforcement learning method named deep latent policy gradient (DLPG) for learning locomotion skills.

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Set-In-Stone: Worst-Case Optimization of Structures Weak in Tension

We propose a structural optimization that jointly optimizes an ornament’s strength-to-weight ratio and balance under self-weight, thermal, wind, and live loads.

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PaintCopter: An Autonomous UAV for Spray Painting on 3D Surfaces

This paper describes a system for autonomous spray painting using a UAV, suitable for industrial applications.

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StreetMap – Mapping and Localization on Ground Planes using a Downward Facing Camera

The paper describes a complete working pipeline to build a globally consistent map of a given ground-plane and subsequently to localize within this map at real-time.

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Closed-Loop Temperature Control of Nylon Artificial Muscles

We demonstrate a nested controller using temperature and position feedback to improve contraction speed, and investigate the cooling rates of various configurations that increase total force output.

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Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism

We present the design and performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism.

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Computational Design of Robotic Devices from High-Level Motion Specifications

We demonstrate the effectiveness of our computational design method by automatically creating a variety of robotic manipulators and legged robots.

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Automated Deep Reinforcement Learning Environment for Hardware of a Modular Legged Robot

We present an automated learning environment for developing control policies directly on the hardware of a modular legged robot.

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Computational Co-Optimization of Design Parameters and Motion Trajectories for Robotic Systems

We present a novel computational approach to optimizing the morphological design of robots.

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Stickman: Towards a Human Scale Acrobatic Robot

We present a simple two degree of freedom robot that uses a gravity-driven pendulum launch and produces a variety of somersaulting stunts.

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