Yuxiang Yang
@yxyang1995PhD student @uwcse on robotics and reinforcement learning, former AI resident @GoogleAI. Walking robot dogs all the time.
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We have fully open-sourced LocoMan, including hardware files in SolidWorks format, and code for both simulation and deployment. github.com/linchangyi1/Lo…
LocoMan = Quadrupedal Robot + 2 * Loco-Manipulator Powered by dual lightweight 3-DoF Loco-Manipulators and the Whole-Body Controller, LocoMan achieves various challenging tasks, such as manipulation in narrow spaces and bimanual-manipulation. linchangyi1.github.io/LocoMan 👇👇👇
Smooth behaviors is vital for successful sim2real transfer of RL policies. This is often achieved with smoothness rewards or low-pass filters, which are not easily differentiable and tend to require tedious tuning. We introduce Lipschitz-Constrained Policies (LCP), a simple and…
🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵 lecar-lab.github.io/dial-mpc/
Agile Continuous Jumping in Discontinuous Terrains discuss: huggingface.co/papers/2409.10… We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping…
🚗🧵Introducing HOUND: an open-source, low-cost research platform for high-speed off-road driving that makes off-road autonomy more accessible to researchers. Paper: arxiv.org/pdf/2311.11199 Website: sites.google.com/view/prl-hound #Robotics #RSS2024
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