相关论文: Learning Humanoid Robot Running Skills through Pro…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…

Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unknown environment without a map. An efficient training strategy…

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

This paper presents the concepts of Artificial Intelligence, Multi-Agent-Systems, Coordination, Intelligent Robotics and Deep Reinforcement Learning. Emphasis is given on and how AI and DRL, may be efficiently used to create efficient robot…

Autonomous car racing is a major challenge in robotics. It raises fundamental problems for classical approaches such as planning minimum-time trajectories under uncertain dynamics and controlling the car at the limits of its handling.…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…

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…

Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…

Reinforcement learning has been widely applied to robotic control, but effective policy learning under partial observability remains a major challenge, especially in high-dimensional tasks like humanoid locomotion. To date, no prior work…

Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the…

Learning fast and robust ball-kicking skills is a critical capability for humanoid soccer robots, yet it remains a challenging problem due to the need for rapid leg swings, postural stability on a single support foot, and robustness under…

Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…

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…