Jeremy Dao

Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning

Jul 16, 2022
Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan Hurst, Kevin Green, Alan Fern

Figure 2 for Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning

Figure 3 for Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning

Figure 4 for Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning

* In review for the 2022 IEEE-RAS International Conference on Humanoid Robots. 8 pages, 8 figures, 3 tables

Access Paper or Ask Questions

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning

Jul 09, 2022
Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan Hurst, Ross L. Hatton, Alan Fern, Kevin Green

Figure 2 for Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning

Figure 3 for Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning

Figure 4 for Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning

* 8 pages, 6 figures

Access Paper or Ask Questions

Learning Dynamic Bipedal Walking Across Stepping Stones

May 03, 2022
Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan Hurst

Figure 2 for Learning Dynamic Bipedal Walking Across Stepping Stones

Figure 3 for Learning Dynamic Bipedal Walking Across Stepping Stones

Figure 4 for Learning Dynamic Bipedal Walking Across Stepping Stones

* Video will be uploaded later

Access Paper or Ask Questions

Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads

Apr 09, 2022
Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan Hurst

Figure 2 for Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads

Figure 3 for Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads

Figure 4 for Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads

* Accepted to ICRA 2022. Video attachment: https://youtu.be/IeSUM_ej8wE

Access Paper or Ask Questions

Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking

Mar 15, 2022
Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan Hurst

Figure 2 for Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking

Figure 3 for Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking

Figure 4 for Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking

* Accepted at ICRA 2022. Video will be uploaded later

Access Paper or Ask Questions

Learning Task Space Actions for Bipedal Locomotion

Nov 09, 2020
Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan Hurst

Figure 2 for Learning Task Space Actions for Bipedal Locomotion

Figure 3 for Learning Task Space Actions for Bipedal Locomotion

Figure 4 for Learning Task Space Actions for Bipedal Locomotion

Access Paper or Ask Questions

Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model

Oct 21, 2020
Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan Hurst

Figure 2 for Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model

Figure 3 for Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model

Figure 4 for Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model

* 7 pages, 8 figures. Submitted to IEEE Robotics and Automation Letters (RA-L) with ICRA 2021 presentation option. Video supplement: https://youtu.be/80oJeaAd8CE

Access Paper or Ask Questions

Learning Memory-Based Control for Human-Scale Bipedal Locomotion

Jun 03, 2020
Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan Hurst

Figure 2 for Learning Memory-Based Control for Human-Scale Bipedal Locomotion

Figure 3 for Learning Memory-Based Control for Human-Scale Bipedal Locomotion

Figure 4 for Learning Memory-Based Control for Human-Scale Bipedal Locomotion

* 8 pages, 5 figures, submitted to Robotics: Science and Systems 2020

Access Paper or Ask Questions

Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie

Mar 22, 2019
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan Hurst, Michiel van de Panne

Figure 2 for Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie

Figure 3 for Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie

Figure 4 for Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie

Access Paper or Ask Questions

Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

Mar 28, 2018
Kendall Lowrey, Svetoslav Kolev, Jeremy Dao, Aravind Rajeswaran, Emanuel Todorov

Figure 2 for Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

Figure 3 for Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

Figure 4 for Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

* Accepted at IEEE SIMPAR 2018. Project page: https://sites.google.com/view/phantomsim2real

Access Paper or Ask Questions