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Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer

Feb 09, 2022
Charles Schaff, Audrey Sedal, Matthew R. Walter

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A Robot Cluster for Reproducible Research in Dexterous Manipulation

Sep 22, 2021
Stefan Bauer, Felix Widmaier, Manuel Wüthrich, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Charles Schaff, Takahiro Maeda, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Annika Buchholz, Sebastian Stark, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bernhard Schölkopf

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Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

May 05, 2021
Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters

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Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge

Jan 08, 2021
Takuma Yoneda, Charles Schaff, Takahiro Maeda, Matthew Walter

* The winning submission to Real Robot Challenge (

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Residual Policy Learning for Shared Autonomy

Apr 10, 2020
Charles Schaff, Matthew R. Walter

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Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning

Sep 14, 2018
Charles Schaff, David Yunis, Ayan Chakrabarti, Matthew R. Walter

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Jointly Optimizing Placement and Inference for Beacon-based Localization

Sep 20, 2017
Charles Schaff, David Yunis, Ayan Chakrabarti, Matthew R. Walter

* Appeared at 2017 International Conference on Intelligent Robots and Systems (IROS) 

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