Related papers: Watch Your Step: Learning Semantically-Guided Loco…
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…
Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing learning-based approaches often struggle on such complex terrains due to…
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…
Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and…
Recent advancements in legged robot locomotion have facilitated traversal over increasingly complex terrains. Despite this progress, many existing approaches rely on end-to-end deep reinforcement learning (DRL), which poses limitations in…
Reliable and stable locomotion has been one of the most fundamental challenges for legged robots. Deep reinforcement learning (deep RL) has emerged as a promising method for developing such control policies autonomously. In this paper, we…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
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…
The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in…
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…
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability…
Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…
Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…
As home robotics gains traction, robots are increasingly integrated into households, offering companionship and assistance. Quadruped robots, particularly those resembling dogs, have emerged as popular alternatives for traditional pets.…
Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual…
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,…
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present 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…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…