Aaron D. Ames
収録論文 158本 ・ フィジカルAI/ロボット学習
モーションリターゲティング
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- 接触を狙う：動的モーションリターゲティングのための接触暗黙的多重シューティング法モーションリターゲティング2026/8/4
動的に実現可能な全身軌道を生成するため、微分可能なシミュレータを非線形計画法に組み込み、接触や摩擦などを内部で解決する新しいリターゲティング手法を提案。強化学習の訓練を加速し、実機でのゼロショット転送も実証した。
- Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting2026/8/1
- PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball2026/7/1
- Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation2026/6/1
- TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes2026/6/1
- On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control2026/5/1
- Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy2026/5/1
- Stability of Control Lyapunov Function Guided Reinforcement Learning2026/5/1
- HALO: Hybrid Auto-encoded Locomotion with Learned Latent Dynamics, Poincar\'e Maps, and Regions of Attraction2026/4/1
- Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters2026/4/1
- Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet2026/3/1
- MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics2026/3/1
- Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions2026/3/1
- Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running2026/3/1
- Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters2026/3/1
- Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties2026/2/1
- Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds2026/1/1
- KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems2025/12/1
- Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion2025/10/1
- CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions2025/10/1
- Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields2025/10/1
- Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions2025/10/1
- Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems2025/9/1
- RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots2025/9/1
- Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning2025/9/1
- Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots2025/9/1
- A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics2025/9/1
- Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis2025/8/1
- Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC2025/8/1
- CLF-RL: Control Lyapunov Function Guided Reinforcement Learning2025/8/1
- Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions2025/8/1
- Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control2025/6/1
- Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control2025/6/1
- Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models2025/5/1
- Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks2025/5/1
- SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics2025/5/1
- Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation2025/5/1
- Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control2025/4/1
- Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion2025/2/1
- Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions2024/12/1
- Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice2024/11/1
- Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes2024/11/1
- Robust Adaptive Safe Robotic Grasping with Tactile Sensing2024/11/1
- Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints2024/11/1
- Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures2024/11/1
- Safety-Critical Controller Synthesis with Reduced-Order Models2024/11/1
- Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer2024/10/1
- Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination2024/9/1
- Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation2024/9/1
- Robust Agility via Learned Zero Dynamics Policies2024/9/1
- DROP: Dexterous Reorientation via Online Planning2024/9/1
- Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems2024/6/1
- Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP2024/6/1
- Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications2024/4/1
- Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms2024/4/1
- A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems2024/3/1
- Data-Driven Predictive Control for Robust Exoskeleton Locomotion2024/3/1
- Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models2024/3/1
- Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification2024/3/1
- Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping2024/3/1
- Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety2024/3/1
- Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions2024/3/1
- Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control2024/1/1
- Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments2023/12/1
- A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints2023/12/1
- Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions2023/12/1
- Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion2023/10/1
- Multi-Domain Walking with Reduced-Order Models of Locomotion2023/10/1
- Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles2023/10/1
- Characterizing Smooth Safety Filters via the Implicit Function Theorem2023/9/1
- Composing Control Barrier Functions for Complex Safety Specifications2023/9/1
- PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability2023/9/1
- On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions2023/9/1
- Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics2023/8/1
- Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots2023/5/1
- Input-to-State Stability in Probability2023/4/1
- Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems2023/4/1
- An Input-to-State Stability Perspective on Robust Locomotion2023/3/1
- Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions2023/3/1
- Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control2023/3/1
- Safety-Critical Control with Bounded Inputs via Reduced Order Models2023/3/1
- FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric2023/2/1
- Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications2023/1/1
- Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data2022/12/1
- Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces2022/12/1
- Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows2022/10/1
- Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control2022/9/1
- Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics2022/9/1
- Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors2022/9/1
- Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization2022/9/1
- POLAR: Preference Optimization and Learning Algorithms for Robotics2022/8/1
- Safe Drone Flight with Time-Varying Backup Controllers2022/7/1
- Control Barrier Functionals: Safety-critical Control for Time Delay Systems2022/6/1
- Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles2022/6/1
- Input-to-State Safety with Input Delay in Longitudinal Vehicle Control2022/5/1
- Safety-Critical Manipulation for Collision-Free Food Preparation2022/5/1
- Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies2022/4/1
- Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision2022/3/1
- Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics2022/3/1
- Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models2022/3/1
- Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification2022/1/1
- Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions2022/1/1
- Safety-Critical Control with Input Delay in Dynamic Environment2021/12/1
- Safety-Aware Preference-Based Learning for Safety-Critical Control2021/12/1
- Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments2021/10/1
- Interactive multi-modal motion planning with Branch Model Predictive Control2021/9/1
- Risk-Averse Decision Making Under Uncertainty2021/9/1
- Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics2021/9/1
- Model-Free Safety-Critical Control for Robotic Systems2021/9/1
- Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking2021/7/1
- Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots2021/6/1
- Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing2021/5/1
- Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety2021/5/1
- Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control2021/3/1
- Learning Controller Gains on Bipedal Walking Robots via User Preferences2021/2/1
- Constrained Risk-Averse Markov Decision Processes2020/12/1
- Model-Dependent Prosthesis Control with Interaction Force Estimation2020/11/1
- ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes2020/11/1
- Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots2020/11/1
- Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion2020/11/1
- Reactive motion planning with probabilistic safety guarantees2020/11/1
- Lidar-based exploration and discretization for mobile robot planning2020/11/1
- Decentralized Task and Path Planning for Multi-Robot Systems2020/11/1
- Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control2020/11/1
- Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty2020/11/1
- Dynamic Walking: Toward Agile and Efficient Bipedal Robots2020/10/1
- Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking2020/10/1
- Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions2020/6/1
- Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties2020/4/1
- Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions2020/4/1
- Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses2020/3/1
- Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits2020/3/1
- Barrier Functions for Multiagent-POMDPs with DTL Specifications2020/3/1
- Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator2020/2/1
- Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems2019/11/1
- An Inverse Dynamics Approach to Control Lyapunov Functions2019/10/1
- Stabilization of Exoskeletons through Active Ankle Compensation2019/9/1
- Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion2019/9/1
- Preference-Based Learning for Exoskeleton Gait Optimization2019/9/1
- Control of Separable Subsystems with Application to Prostheses2019/9/1
- Towards Variable Assistance for Lower Body Exoskeletons2019/9/1
- Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity2019/9/1
- Risk-Averse Planning Under Uncertainty2019/9/1
- First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach2019/9/1
- Dynamic Walking with Compliance on a Cassie Bipedal Robot2019/4/1
- Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems2019/3/1
- Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions2019/3/1
- Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage2018/12/1
- Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking2018/2/1
- Input to State Stability of Bipedal Walking Robots: Application to DURUS2018/1/1
- Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness2017/2/1
- Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments2017/2/1
- Footstep and Motion Planning in Semi-unstructured Environments Using Randomized Possibility Graphs2016/10/1
- Traversing Environments Using Possibility Graphs with Multiple Action Types2016/10/1
- Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile Robots2016/8/1
- System Identification and Control of Valkyrie through SVA--Based Regressor Computation2016/8/1
- Traversing Environments Using Possibility Graphs for Humanoid Robots2016/8/1
- Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs2013/2/1