research SCRUB Blind force-regulated tool sliding on Unitree Go1 hardware — an armless quadruped presses and slides a body-mounted tool along surfaces it has no model of. GaitNet Learning-based acyclic footstep planning for dynamic quadruped locomotion — CNN foothold cost maps + RL gait selection on top of perceptive MPC. projects Humanoid Ice Skating Simulated ice-skating locomotion for a Unitree G1 via blade-contact RL — no motion capture, no imitation data. The skating gait emerges from anisotropic blade–ice contact. Bimanual Lifting Simulated bimanual object lifting and carrying for a Unitree G1 via residual AMP–PPO over a frozen locomotion policy. Flow Matching Policies Conditional Flow Matching visuomotor policies in robomimic — beats Diffusion Policy head-to-head, with a 94× faster 1-step inference mode. Revolute Flow-matching visuomotor policies for a Seeed B601 RS arm on LeRobot — teleoperated demonstrations, a controlled U-Net vs. transformer comparison, and models sized for a Jetson Orin Nano. Acrobatic Quadrotor Flight SE(3) geometric control with L1 adaptive augmentation on a Crazyflie 2.1 — zero-radius flips, recovery, and 94% disturbance rejection in ROS 2 simulation. Go1 PPO Locomotion PPO locomotion for the Unitree Go1 in JAX/MuJoCo MJX — asymmetric actor-critic, domain randomization, rough terrain, and real-robot deployment.
