相关论文: Robust Recovery Controller for a Quadrupedal Robot…

Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot. In contrast, approximate reduced-order models are…

Bipedal robots are gaining global recognition due to their potential applications and advancements in artificial intelligence, particularly through Deep Reinforcement Learning (DRL). While DRL has significantly advanced bipedal locomotion,…

Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and…

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train…

In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be…

Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…

In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…

Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…

Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement learning to learn continuous jumping motions for quadrupedal…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodily changes. Deep reinforcement learning has been shown to be…

We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…

Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…

We investigate whether Deep Reinforcement Learning (Deep RL) is able to synthesize sophisticated and safe movement skills for a low-cost, miniature humanoid robot that can be composed into complex behavioral strategies in dynamic…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…