相关论文: Learning Locomotion Skills in Evolvable Robots

Robots are used in more and more complex environments, and are expected to be able to adapt to changes and unknown situations. The easiest and quickest way to adapt is to change the control system of the robot, but for increasingly complex…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…

Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…

Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current workspace configuration. Furthermore, to accomplish complex…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Numerous algorithms have been proposed to allow legged robots to learn to walk. However, the vast majority of these algorithms is devised to learn to walk in a straight line, which is not sufficient to accomplish any real-world mission.…

In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

Learning dexterous locomotion policy for legged robots is becoming increasingly popular due to its ability to handle diverse terrains and resemble intelligent behaviors. However, joint manipulation of moving objects and locomotion with…

Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…