Research - Humanoid Whole-Body Control
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WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
Chong Zhang*, Wenli Xiao*, Tairan He, Guanya Shi
CoRL 2024 RSS 2024, Task Specification for General-Purpose Intelligent Robots Workshop
arXiv /
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introduction /
twitter
TL;DR: WoCoCo is the first unified RL framework to learn whole-body humanoid control with sequential contacts.
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OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
Tairan He*, Zhengyi Luo*, Xialin He*,
Wenli Xiao,
Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu, Guanya Shi
CoRL 2024
arXiv /
website /
video /
Twitter
TL;DR: OmniH2O provides the first universal whole-body humanoid control interface that enables diverse teleoperation and autonomy methods.
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Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
Tairan He*, Zhengyi Luo*.
Wenli Xiao,
Chong Zhang, Kris Kitani, Changliu Liu, Guanya Shi
IROS 2024 (Oral presentation)
ICRA 2024, Agile Robotics Workshop (Spotlight)
arXiv /
website /
video
TL;DR: H2O enables real-time whole-body teleoperation of a full-sized humanoid to perform tasks like pick and place, walking, kicking, boxing, etc.
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Research - Agile Robot Mobility
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Safe Deep Policy Adaptation
Wenli Xiao*, Tairan He*, John Dolan, Guanya Shi
ICRA 2024 CoRL 2023 Deployable Workshop
arXiv /
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video /
code /
twitter
This paper jointly tackles policy adaptation and safe reinforcement learning with safety guarantees. Comprehensive experiments on (1) classic control problems (Inverted Pendulum), (2) simulation benchmarks (Safety Gym), and (3) a real-world agile robotics platform (RC Car) demonstrate great superiority of SafeDPA in both safety and task performance, over state-of-the-art baselines.
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Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
Tairan He*, Chong Zhang*
Wenli Xiao,
Guanqi He, Changliu Liu, Guanya Shi
RSS 2024 (Outstanding Student Paper Award Finalist - Top 3)
ICRA 2024, Agile Robotics Workshop (Spotlight)
arXiv /
website /
video
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety, or focus on agility without considering potentially fatal collisions. This paper introduces Agile But Safe (ABS), a learning-based control framework that enables agile and collision-free locomotion for quadrupedal robots.
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Carnegie Mellon University, Pittsburgh, PA, USA
MS, Robotics • Sep. 2023 to May. 2025 (expected)
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UC Berkeley, Berkeley, CA, USA
EECS Visiting • Jan. 2022 to May. 2022
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The Chinese University of Hong Kong, Shenzhen, China
B.S. in Electric Information Engineering • Sep. 2019 to Jun. 2023
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