Related papers: SLowRL: Safe Low-Rank Adaptation Reinforcement Lea…

Learning-based approaches, particularly reinforcement learning (RL), have become widely used for developing control policies for autonomous agents, such as locomotion policies for legged robots. RL training typically maximizes a predefined…

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

Massively parallel simulation has reduced reinforcement learning (RL) training time for robots from days to minutes. However, achieving fast and reliable sim-to-real RL for humanoid control remains difficult due to the challenges introduced…

Deep reinforcement learning (RL) can enable robots to autonomously acquire complex behaviors, such as legged locomotion. However, RL in the real world is complicated by constraints on efficiency, safety, and overall training stability,…

Reinforcement Learning (RL) has shown its remarkable and generalizable capability in legged locomotion through sim-to-real transfer. However, while adaptive methods like domain randomization are expected to enhance policy robustness across…

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.…

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…

Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipedal locomotion work, have not considered locomotion under a…

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…

Low-Rank Adaptation (LoRA) is one of the most widely used techniques for fine-tuning large language models (LLMs). By introducing a small number of trainable low-rank weight matrices, LoRA substantially reduces the number of parameters that…

Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on the dataset and struggle to generalize to unseen scenarios…

Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance. Existing approaches typically rely on a single policy to…

We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…

Traditional RL-based locomotion controllers often suffer from low data efficiency, requiring extensive interaction to achieve robust performance. We present a model-based reinforcement learning (MBRL) framework that improves sample…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

Domain randomization has emerged as a fundamental technique in reinforcement learning (RL) to facilitate the transfer of policies from simulation to real-world robotic applications. Many existing domain randomization approaches have been…

This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical…