相关论文: Accessibility-Based Clustering for Efficient Learn…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, existing tools are developed mainly for bipeds or humanoids.…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…

This paper develops a hierarchical learning and optimization framework that can learn and achieve well-coordinated multi-skill locomotion. The learned multi-skill policy can switch between skills automatically and naturally in tracking…

Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

Clustering is a key task in machine learning, with $k$-means being widely used for its simplicity and effectiveness. While 1D clustering is common, existing methods often fail to exploit the structure of 1D data, leading to inefficiencies.…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

Humanoid robots remain vulnerable to falls and unrecoverable failure states, limiting their practical utility in unstructured environments. While reinforcement learning has demonstrated stand-up behaviors, existing approaches treat recovery…

Human mobility clustering is an important problem for understanding human mobility behaviors (e.g., work and school commutes). Existing methods typically contain two steps: choosing or learning a mobility representation and applying a…

For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to enable the robot to both achieve specific, desired footholds…

Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework…

The anticlustering problem is to partition a set of objects into K equal-sized anticlusters such that the sum of distances within anticlusters is maximized. The anticlustering problem is NP-hard. We focus on anticlustering in Euclidean…

We consider the problem of subspace clustering: given points that lie on or near the union of many low-dimensional linear subspaces, recover the subspaces. To this end, one first identifies sets of points close to the same subspace and uses…

Clustering is a fundamental unsupervised learning approach. Many clustering algorithms -- such as $k$-means -- rely on the euclidean distance as a similarity measure, which is often not the most relevant metric for high dimensional data…

The K-Modes algorithm, developed for clustering categorical data, is of high algorithmic simplicity but suffers from unreliable performances in clustering quality and clustering efficiency, both heavily influenced by the choice of initial…

Clustering is one of the widely used techniques to find out patterns from a dataset that can be applied in different applications or analyses. K-means, the most popular and simple clustering algorithm, might get trapped into local minima if…