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Guanya Shi

@GuanyaShi • 6,719 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:

32,142 views

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 views

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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:
1:54
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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:

Guanya Shi

36,591 views • 9 months ago

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:
0:10
GuanyaShi's profile picture

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:

Guanya Shi

32,142 views • 1 year ago

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!
0:21
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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!

Guanya Shi

11,032 views • 1 year ago

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!
0:21
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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!

Guanya Shi

10,087 views • 2 years ago

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