相关论文: Reinforcement Learning Meets Hybrid Zero Dynamics:…

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…

In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a control hierarchy in which highest-level…

We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The system consists of a high-level controller that learns to…

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…

In the field of legged robot motion control, reinforcement learning (RL) holds great promise but faces two major challenges: high computational cost for training individual robots and poor generalization of trained models. To address these…

Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However autonomous traversal of confined 3D environments including…

Reinforcement learning (RL) has emerged as a powerful method to learn robust control policies for bipedal locomotion. Yet, it can be difficult to tune desired robot behaviors due to unintuitive and complex reward design. In comparison,…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…

Ballbot (i.e. Ball balancing robot) navigation usually relies on methods rooted in control theory (CT), and works that apply Reinforcement learning (RL) to the problem remain rare while generally being limited to specific subtasks (e.g.…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

End-to-end reinforcement learning (RL) for humanoid locomotion is appealing for its compact perception-action mapping, yet practical policies often suffer from training instability, inefficient feature fusion, and high actuation cost. We…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Reinforcement learning (RL) has attracted increasing interest for adaptive traffic signal control due to its model-free ability to learn control policies directly from interaction with the traffic environment. However, several challenges…