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Guanya Shi

@GuanyaShi • 8,000 subscribers

Assistant Professor @CMU_Robotics @SCSatCMU, leading the @LeCARLab. @Amazon Scholar @ FAR. I build generalist robots with agility. Ph.D. from @Caltech.

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Thanks AK! Finally, robot can do continuous, agile, autonomous, adaptive jumping over stair and stepping stone Key idea: combine the pros of model-free RL and model-based control. RL (for CoM refs) + QP (for GRF) + WBC (for torque) Open-sourced:

Thanks AK! Finally, robot can do continuous, agile, autonomous, adaptive jumping over stair and stepping stone Key idea: combine the pros of model-free RL and model-based control. RL (for CoM refs) + QP (for GRF) + WBC (for torque) Open-sourced:

32,155 Aufrufe

System ID for legged robots is hard: (1) Discontinuous dynamics and (2) many parameters to identify and hard to "excite" them. SPI-Active is a general tool for legged robot system ID. Key ideas: (1) massively parallel sampling-based optimization, (2) structured parameter space, and (3) active exploration based on Fisher Information to collect the most informative data in real. SPI-Active provides an accurate robot model and effectively reduces the sim2real gap. In sim2real policy learning setting, it outperforms baselines by 42-63% in various quadruped & humanoid tasks. Led by Nikhil Sobanbabu Guanqi He

System ID for legged robots is hard: (1) Discontinuous dynamics and (2) many parameters to identify and hard to "excite" them. SPI-Active is a general tool for legged robot system ID. Key ideas: (1) massively parallel sampling-based optimization, (2) structured parameter space, and (3) active exploration based on Fisher Information to collect the most informative data in real. SPI-Active provides an accurate robot model and effectively reduces the sim2real gap. In sim2real policy learning setting, it outperforms baselines by 42-63% in various quadruped & humanoid tasks. Led by Nikhil Sobanbabu Guanqi He

21,442 Aufrufe

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The new humanoid whole-body teleop & policy learning demo from Boston Dynamics & Toyota Research Institute (TRI) is so impressive. The telelop system includes BD's MPC system as controllers, VR headset, base stations, and trackers on chest & feet. The policy learning architecture is similar to TRI's LBM. Source:

The new humanoid whole-body teleop & policy learning demo from Boston Dynamics & Toyota Research Institute (TRI) is so impressive. The telelop system includes BD's MPC system as controllers, VR headset, base stations, and trackers on chest & feet. The policy learning architecture is similar to TRI's LBM. Source:

36,805 Aufrufe • vor 1 Jahr

Thanks AK! Finally, robot can do continuous, agile, autonomous, adaptive jumping over stair and stepping stone Key idea: combine the pros of model-free RL and model-based control. RL (for CoM refs) + QP (for GRF) + WBC (for torque) Open-sourced:

Thanks AK! Finally, robot can do continuous, agile, autonomous, adaptive jumping over stair and stepping stone Key idea: combine the pros of model-free RL and model-based control. RL (for CoM refs) + QP (for GRF) + WBC (for torque) Open-sourced:

32,155 Aufrufe • vor 2 Jahren

Quadrupedal robots are mastering agile skills like running, standing, and parkouring, yet face the peril of damaging falls. Introducing🛡️Guardians as You Fall (GYF), a safe falling and recovery framework that can actively tumble and recover to stable modes to minimize damage in highly dynamic scenarios. Fully open-sourced! Key idea: Rather than recovering after the robot falls severely, GYF adaptively traverses different stable modes via active tumbling before irrecoverable poses. Website: Code: Paper: w/ Yikai Wang, @mengdibellaxu and Ding Zhao

Quadrupedal robots are mastering agile skills like running, standing, and parkouring, yet face the peril of damaging falls. Introducing🛡️Guardians as You Fall (GYF), a safe falling and recovery framework that can actively tumble and recover to stable modes to minimize damage in highly dynamic scenarios. Fully open-sourced! Key idea: Rather than recovering after the robot falls severely, GYF adaptively traverses different stable modes via active tumbling before irrecoverable poses. Website: Code: Paper: w/ Yikai Wang, @mengdibellaxu and Ding Zhao

28,484 Aufrufe • vor 3 Jahren

The CMU LeCAR Lab will present several papers at #RSS2024 this week, covering topics from learning & control & optimization, safe autonomy, to humanoids. Check them out!

The CMU LeCAR Lab will present several papers at #RSS2024 this week, covering topics from learning & control & optimization, safe autonomy, to humanoids. Check them out!

11,064 Aufrufe • vor 2 Jahren

Unfortunately, I am not at #ICRA2024, but students from LeCAR Lab at CMU will present several papers about learning and control in agile robotics. Check them out!

Unfortunately, I am not at #ICRA2024, but students from LeCAR Lab at CMU will present several papers about learning and control in agile robotics. Check them out!

10,145 Aufrufe • vor 2 Jahren

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