Jemin Hwangbo

A quadruped robot designed to complete a marathon on a single battery charge.

TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

An end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions that directly predicts relative displacement, relative rotation, and body-frame velocity from a recent history of onboard inertial and joint measurements.

PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

This paper introduces a new Kinematic Normalizing Flow (KNF) model, trained on a large-scale kinematic dataset, that generates diverse yet feasible partial reference motions that effectively addresses whole-body control challenges by decomposing the complex loco-manipulation problem into partial reference motion genera...