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Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…

Developing an automated driving system capable of navigating complex traffic environments remains a formidable challenge. Unlike rule-based or supervised learning-based methods, Deep Reinforcement Learning (DRL) based controllers eliminate…

In 5G non-standalone mode, an intelligent traffic steering mechanism can vastly aid in ensuring smooth user experience by selecting the best radio access technology (RAT) from a multi-RAT environment for a specific traffic flow. In this…

Deep reinforcement learning (DRL) has emerged as an innovative solution for controlling legged robots in challenging environments using minimalist architectures. Traditional control methods for legged robots, such as inverse dynamics,…

Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

The increasing complexity of modern applications demands wireless networks capable of real time adaptability and efficient resource management. The Open Radio Access Network (O-RAN) architecture, with its RAN Intelligent Controller (RIC)…

Legged robots have shown promise in locomotion complex environments, but recovery from falls on challenging terrains remains a significant hurdle. This paper presents an Adaptive Fall Recovery (AFR) controller for quadrupedal robots on…

Applying Deep Reinforcement Learning (DRL) to Human-Robot Cooperation (HRC) in dynamic control problems is promising yet challenging as the robot needs to learn the dynamics of the controlled system and dynamics of the human partner. In…

Reinforcement Learning (RL) has made promising progress in planning and decision-making for Autonomous Vehicles (AVs) in simple driving scenarios. However, existing RL algorithms for AVs fail to learn critical driving skills in complex…

Multi-task reinforcement learning (MTRL) demonstrate potential for enhancing the generalization of a robot, enabling it to perform multiple tasks concurrently. However, the performance of MTRL may still be susceptible to conflicts between…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…

This study is aimed at addressing the problem of fault tolerance of quadruped robots to actuator failure, which is critical for robots operating in remote or extreme environments. In particular, an adaptive curriculum reinforcement learning…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

Humanoid robots encounter considerable difficulties in autonomously recovering from falls, especially within dynamic and unstructured environments. Conventional control methodologies are often inadequate in addressing the complexities…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…