Related papers: PGTT: Phase-Guided Terrain Traversal for Perceptiv…

Robust humanoid stair climbing remains challenging due to geometric discontinuities, sensitivity to step height variations, and perception uncertainty in real-world environments. Existing learning-based locomotion policies often rely on…

Gait recognition has attracted increasing attention from academia and industry as a human recognition technology from a distance in non-intrusive ways without requiring cooperation. Although advanced methods have achieved impressive success…

This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…

Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing configurations. We propose ADAPT (Adaptive dual-projection…

Thanks to recent explosive developments of data-driven learning methodologies, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem in robotics. In this paper, we propose CTS, a novel…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both memory and prior knowledge to the controller. The result is…

Many real-world walking scenarios contain obstacles and unsafe ground patches (e.g., slippery or cluttered areas), leaving a disconnected set of admissible footholds that can be modeled as stepping-stone-like regions. We propose an onboard,…

Despite advances in dance generation, most methods are trained in the skeletal domain and ignore mesh-level physical constraints. As a result, motions that look plausible as joint trajectories often exhibit body self-penetration and…

Data-driven learning based methods have recently been particularly successful at learning robust locomotion controllers for a variety of unstructured terrains. Prior work has shown that incorporating good locomotion priors in the form of…

Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…

Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain largely out of reach because current RL training paradigms…

This paper presents a reinforcement learning framework that incorporates a Contextual Reward Machine for task-oriented grasping. The Contextual Reward Machine reduces task complexity by decomposing grasping tasks into manageable sub-tasks.…

Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…

Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion…

We study the problem of realizing the full spectrum of bipedal locomotion on a real robot with sim-to-real reinforcement learning (RL). A key challenge of learning legged locomotion is describing different gaits, via reward functions, in a…

Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has recently yielded great advances, both in the optimal control…

We consider imitation learning in the low-data regime, where only a limited number of expert demonstrations are available. In this setting, methods that rely on large-scale pretraining or high-capacity architectures can be difficult to…