相关论文: Sim-to-Real Transfer for Biped Locomotion

We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…

In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…

This paper develops a hierarchical learning and optimization framework that can learn and achieve well-coordinated multi-skill locomotion. The learned multi-skill policy can switch between skills automatically and naturally in tracking…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Achieving highly dynamic humanoid parkour on unseen, complex terrains remains a challenge in robotics. Although general locomotion policies demonstrate capabilities across broad terrain distributions, they often struggle with arbitrary and…

Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body…

We cast real-world humanoid control as a next token prediction problem, akin to predicting the next word in language. Our model is a causal transformer trained via autoregressive prediction of sensorimotor trajectories. To account for the…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…

The pretraining-finetuning paradigm has facilitated numerous transformative advancements in artificial intelligence research in recent years. However, in the domain of reinforcement learning (RL) for robot locomotion, individual skills are…

Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthesising such controllers, even for a single objective, is a…

State-of-the-art model-based control designs have been shown to be successful in realizing dynamic locomotion behaviors for robotic systems. The precision of the realized behaviors in terms of locomotion performance via fly, hopping, or…

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…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…