Publications

Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels

In imitation learning for robotics, cotraining with demonstration data generated both in simulation and on real hardware has emerged as …

Adam Wei, Abhinav Agarwal, Boyuan Chen, Rohan Bosworth, Nicholas Pfaff, Russ Tedrake

Consensus Complementarity Control for Multicontact MPC

We propose a hybrid model predictive control algorithm, consensus complementarity control, for systems that make and break contact with …

Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, Michael Posa

Framework and Software for Real-Time Multi-Contact Model Predictive Control

Our recent work on consensus complementarity control (C3) proposes a model predictive control algorithm for hybrid systems that make …

Alp Aydinoglu, Adam Wei, Michael Posa

BitAllocation: A Resource Allocation Algorithm For Fixed-Point Quantization

The growing size and computational complexity of state-of-the-art deep convolutional networks (DCNs) have greatly increased the memory, …

Adam Wei