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Learning to See Physical Properties with Active Sensing Motor Policies
Gabriel B. Margolis, Xiang Fu, Yandong Ji, Pulkit Agrawal
Conference on Robot Learning, 2023
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project page
Learn to see how terrains feel by collecting self-supervised data with information-maximizing motor skills.
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DribbleBot: Dynamic Legged Manipulation in the Wild
Yandong Ji*, Gabriel B. Margolis* , Pulkit Agrawal
International Conference on Robotics and Automation (ICRA), 2023
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project page
Dynamic object manipulation with the legs, using onboard computation and sensing.
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Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
Gabriel B. Margolis, Pulkit Agrawal
Conference on Robot Learning, 2022 (Oral Presentation)
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code
One learned policy embodies parameterized dynamic behaviors useful for different tasks.
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Rapid Locomotion via Reinforcement Learning
Gabriel B. Margolis*, Ge Yang* Kartik Paigwar,
Tao Chen, Pulkit Agrawal
Robotics: Science and Systems, 2022
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code
High-speed running and spinning on diverse terrains with a single neural network.
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Learning to Jump from Pixels
Gabriel B. Margolis, Tao Chen,
Kartik Paigwar, Xiang Fu,
Donghyun Kim, Sangbae Kim,
Pulkit Agrawal
Conference on Robot Learning, 2021
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project page
A hierarchical control framework for dynamic vision-aware locomotion.
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Learning Robust Terrain-Aware Locomotion
Gabriel B. Margolis
Master's Thesis, 2021
thesis
My Master's thesis. This work received the Ernst A. Guillemin Master’s Thesis Award in Artificial Intelligence and Decision Making.
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6.141 Robotics: Science and Systems
A hands-on intro to ROS and the full autonomous driving stack. (Spring 2021)
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16.410 Principles of Autonomy and Decision Making
Algorithms for planning under constraints and uncertainty. (Fall 2020)
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