CMP projects actions onto a learned competence manifold using a frame-wise safety scheme and isomorphic latent space to achieve up to 10x better survival in out-of-distribution scenarios with under 10% tracking loss.
Perceptive whole-body planning for multilegged robots in confined spaces.Journal of Field Robotics, 38 (1):68–84, 2021
2 Pith papers cite this work. Polarity classification is still indexing.
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UNVERDICTED 2representative citing papers
MoE-based locomotion policy with RoboGauge metrics achieves reliable sim-to-real transfer, enabling robust quadrupedal walking on challenging unseen terrains up to 4 m/s.
citing papers explorer
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CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection
CMP projects actions onto a learned competence manifold using a frame-wise safety scheme and isomorphic latent space to achieve up to 10x better survival in out-of-distribution scenarios with under 10% tracking loss.
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Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion
MoE-based locomotion policy with RoboGauge metrics achieves reliable sim-to-real transfer, enabling robust quadrupedal walking on challenging unseen terrains up to 4 m/s.