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The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…

Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to this shift, the community has also turned to Deep…

Humanoid locomotion requires not only accurate command tracking for navigation but also compliant responses to external forces during human interaction. Despite significant progress, existing RL approaches mainly emphasize robustness,…

This paper develops an adaptive observation-based efficient reinforcement learning (RL) approach for systems with uncertain drift dynamics. A novel concurrent learning adaptive extended observer (CL-AEO) is first designed to jointly…

In collaborative human-robot tasks, safety requires not only avoiding collisions but also ensuring safe, intentional physical contact. We present ContactRL, a reinforcement learning (RL) based framework that directly incorporates contact…

Rehabilitation technology is a natural setting to study the shared learning and decision-making of human and machine agents. In this work, we explore the use of Hierarchical Reinforcement Learning (HRL) to develop adaptive control…

Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…

A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…

This research presents a novel application of Evolutionary Computation to the domain of residential electric vehicle (EV) energy management. While reinforcement learning (RL) achieves high performance in vehicle-to-grid (V2G) optimization,…

In recent years, reinforcement learning (RL) based quadrupedal locomotion control has emerged as an extensively researched field, driven by the potential advantages of autonomous learning and adaptation compared to traditional control…

Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…

Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…

Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body…

Deep Reinforcement Learning (DRL) is widely used in task-oriented dialogue systems to optimize dialogue policy, but it struggles to balance exploration and exploitation due to the high dimensionality of state and action spaces. This…