Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Siyuan Feng, Yilun Du, +4

Artificial IntelligenceCognitive ScienceMotor LearningEngineeringAction Pattern +6

Valkyrie: NASA's First Bipedal Humanoid Robot

Nicolaus Radford, Philip Strawser, Kimberly Hambuchen, +44

Journal of Field Robotics

Robot KinematicsRobotic SystemsEngineeringField RoboticsIntelligent Robotics +18

Diffusion policy: Visuomotor policy learning via action diffusion

Cheng Chi, Zhenjia Xu, Siyuan Feng, +5

The International Journal of Robotics Research

Artificial IntelligenceMotor LearningRobotic SystemsMachine LearningEngineering +15

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

Ayonga Hereid, Eric Cousineau, Christian Hubicki, +1

Robot KinematicsEngineeringUnderactuated Humanoid RobotsField RoboticsMotor Control +19

Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization

Ayonga Hereid, Christian Hubicki, Eric Cousineau, +1

IEEE Transactions on Robotics

Robot KinematicsGait AnalysisEngineeringField RoboticsMotor Control +19

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Cheng Chi, Zhenjia Xu, Chuer Pan, +5

EngineeringUniversal Manipulation InterfaceAutomationEducational RoboticsIntelligent Systems +3

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS

Jacob Reher, Eric Cousineau, Ayonga Hereid, +2

Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics

Aaron D. Ames, Eric Cousineau, Matthew J. Powell

Robot KinematicsStable WalkingEngineeringField RoboticsMotor Control +20

DextAIRity: Deformable Manipulation Can be a Breeze

Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, +3

Iterative Residual Policy for Goal-Conditioned Dynamic Manipulation of Deformable Objects

Cheng Chi, Benjamin Burchfiel, Eric Cousineau, +2