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Notes on robotics research
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Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
The authors propose a method to integrate locomotion and manipulation for robots using a combination of Sample-based Model Predictive Control (SMPC) and Reinforcement Learning (RL). By leveraging SMPC, they create an…
Advancing Omnimodal Embodied Agents from Isolated Skills to Everyday Physical Autonomy
Researchers introduce OmniAct, a framework designed for creating persistent embodied agents in unstructured environments. The framework is built on a hierarchical asynchronous architecture that separates planning…
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