Yifan Sun
@YifanSun98
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Phd student in Robotics of CMU. Working on safe motion planning & control, safe RL. @ICL_at_CMU @CMU_Robotics https://t.co/A3yOA9CQAR
CMU, Pittsburgh
Joined September 2024
RT @chen_hongyi_: [1/7] Teaching dexterous robot hands to perform functional grasps usually needs hours of teleoperation, manual labeling,….
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Is there any way to apply linear controller to extremely nonlinear robots like humanoid? Come and check out our latest work of Incrementally Koopman approach!🤩.
🤖Can highly nonlinear legged robots be controlled by simple linear controller? .🌟Yes—with Incremental Koopman! . Our Incremental Koopman approach transforms nonlinear dynamics into linear models, enabling powerful, proven control techniques. By iteratively expanding datasets
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RT @UnitreeRobotics: Unitree B2-W Talent Awakening! 🥳.One year after mass production kicked off, Unitree’s B2-W Industrial Wheel has been u….
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RT @zhou_xian_: Everything you love about generative models — now powered by real physics!. Announcing the Genesis project — after a 24-mon….
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Team: @YifanSun98 @RuiChen_Rob @kai_s_yun @dino_fang271 @sebb_ene_ @weiyezha @ChangliuL . Safe Set Algorithm (SSA): Synthesizing provably safe controller: Safe control of quadruped in varying dynamics:.
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[4/4] Safety is also guaranteed when the humanoid and obstacles are all in motion.
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[3/4] SPARK provides protection against potential collisions from all directions.
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[2/4] The robot can react to multiple obstacles simultaneously using whole-body motions.
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[1/4] 🌟Sneak Peek: SPARK in Action! 🦾.Previewing Safe Protective & Assistive Robot Kit (SPARK)—a modular toolbox designed to enhance safety in humanoid autonomy and teleoperation. Safety isn't just a feature—it's the foundation for humanoids to truly integrate into human life.
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RT @chen_hongyi_: #CoRL2024 accepted!🌈. Our work KOROL developed a linear dynamics model using object features that capture key information….
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