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AW-Opt: Learning Robotic Skills with Imitation and Reinforcement at Scale


Nov 11, 2021
Yao Lu, Karol Hausman, Yevgen Chebotar, Mengyuan Yan, Eric Jang, Alexander Herzog, Ted Xiao, Alex Irpan, Mohi Khansari, Dmitry Kalashnikov, Sergey Levine


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AW-Opt: Learning Robotic Skills with Imitation andReinforcement at Scale


Nov 09, 2021
Yao Lu, Karol Hausman, Yevgen Chebotar, Mengyuan Yan, Eric Jang, Alexander Herzog, Ted Xiao, Alex Irpan, Mohi Khansari, Dmitry Kalashnikov, Sergey Levine


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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing


Nov 23, 2020
Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, Daniel Ho


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Accelerating Text Mining Using Domain-Specific Stop Word Lists


Nov 18, 2020
Farah Alshanik, Amy Apon, Alexander Herzog, Ilya Safro, Justin Sybrandt


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Thinking While Moving: Deep Reinforcement Learning with Concurrent Control


Apr 25, 2020
Ted Xiao, Eric Jang, Dmitry Kalashnikov, Sergey Levine, Julian Ibarz, Karol Hausman, Alexander Herzog

* Published as a conference paper at ICLR 2020 

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QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation


Nov 28, 2018
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, Sergey Levine

* CoRL 2018 camera ready. 23 pages, 14 figures 

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Transfer Topic Labeling with Domain-Specific Knowledge Base: An Analysis of UK House of Commons Speeches 1935-2014


Aug 27, 2018
Alexander Herzog, Peter John, Slava Jankin Mikhaylov


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Learning a Structured Neural Network Policy for a Hopping Task


Aug 06, 2018
Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti

* IEEE Robotics and Automation Letters 2018 

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Walking Control Based on Step Timing Adaptation


Jul 23, 2018
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti


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On Time Optimization of Centroidal Momentum Dynamics


Feb 26, 2018
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti

* 7 pages, 4 figures, ICRA 2018 

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Scalable Dynamic Topic Modeling with Clustered Latent Dirichlet Allocation (CLDA)


Oct 15, 2017
Chris Gropp, Alexander Herzog, Ilya Safro, Paul W. Wilson, Amy W. Apon


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Pattern Generation for Walking on Slippery Terrains


Oct 07, 2017
Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righetti

* 6 pages, 7 figures 

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Database of Parliamentary Speeches in Ireland, 1919-2013


Aug 15, 2017
Alexander Herzog, Slava J. Mikhaylov

* The database is made available on the Harvard Dataverse at http://dx.doi.org/10.7910/DVN/6MZN76 

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Structured contact force optimization for kino-dynamic motion generation


Dec 24, 2016
Alexander Herzog, Stefan Schaal, Ludovic Righetti

* 8 pages 

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Step Timing Adjustment: A Step toward Generating Robust Gaits


Dec 12, 2016
Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, Ludovic Righetti

* 8 pages, 8 figures 

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Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment


Sep 30, 2016
Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti

* 6 pages, 5 figure 

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A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation


Jul 28, 2016
Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti

* 8 pages 

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Complex Politics: A Quantitative Semantic and Topological Analysis of UK House of Commons Debates


Oct 13, 2015
Stefano Gurciullo, Michael Smallegan, María Pereda, Federico Battiston, Alice Patania, Sebastian Poledna, Daniel Hedblom, Bahattin Tolga Oztan, Alexander Herzog, Peter John, Slava Mikhaylov


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Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid


Aug 07, 2015
Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti

* 21 pages, 11 figures, 4 tables in Autonomous Robots (2015) 

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Humanoid Momentum Estimation Using Sensed Contact Wrenches


Jul 15, 2015
Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti

* Submitted to the 15th IEEE RAS Humanoids Conference, to be held in Seoul, Korea on November 3 - 5, 2015 

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Trajectory generation for multi-contact momentum-control


Jul 15, 2015
Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti


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Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics


Nov 07, 2014
Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal

* appears in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014 

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