Related papers: AnyBipe: An End-to-End Framework for Training and …

The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this paper, we present a novel approach for the design of…

In recent years, training methods centered on Reinforcement Learning (RL) have markedly enhanced the reasoning and alignment performance of Large Language Models (LLMs), particularly in understanding human intents, following user…

Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints on computational power and memory. This work presents an…

Designing effective reward functions is crucial to training reinforcement learning (RL) algorithms. However, this design is non-trivial, even for domain experts, due to the subjective nature of certain tasks that are hard to quantify…

We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step towards achieving human-robot…

Reinforcement Learning (RL) algorithms often require long training to become useful, especially in complex environments with sparse rewards. While techniques like reward shaping and curriculum learning exist to accelerate training, these…

Current Large Language Models (LLMs) often undergo supervised fine-tuning (SFT) to acquire tool use capabilities. However, SFT struggles to generalize to unfamiliar or complex tool use scenarios. Recent advancements in reinforcement…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

We show that iterative deployment of large language models (LLMs), each fine-tuned on data carefully curated by users from the previous models' deployment, can significantly change the properties of the resultant models. By testing this…

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…

Reinforcement learning (RL) has shown promise in generating robust locomotion policies for bipedal robots, but often suffers from tedious reward design and sensitivity to poorly shaped objectives. In this work, we propose a structured…

Recommender systems are tasked to infer users' evolving preferences and rank items aligned with their intents, which calls for in-depth reasoning beyond pattern-based scoring. Recent efforts start to leverage large language models (LLMs)…

Reinforcement learning (RL) has become a foundational approach for enabling intelligent robotic behavior in dynamic and uncertain environments. This work presents an in-depth review of RL principles, advanced deep reinforcement learning…