相关论文: Dynamics Randomization Revisited:A Case Study for …

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Sim-to-real transfer of locomotion policies often leads to performance degradation due to the inevitable sim-to-real gap. Naively fine-tuning these policies directly on hardware is problematic, as it poses risks of mechanical failure and…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…

Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots. This prior work, however, has focused on learning joint-coordination controllers based on an objective of…

This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement learning to train a single locomotion policy on procedurally…

Reinforcement Learning (RL) has shown its remarkable and generalizable capability in legged locomotion through sim-to-real transfer. However, while adaptive methods like domain randomization are expected to enhance policy robustness across…

We present a new approach for transfer of dynamic robot control policies such as biped locomotion from simulation to real hardware. Key to our approach is to perform system identification of the model parameters {\mu} of the hardware (e.g.…

Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…

Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…

Training reinforcement learning (RL) policies for legged locomotion often requires extensive environment interactions, which are costly and time-consuming. We propose Symmetry-Guided Memory Augmentation (SGMA), a framework that improves…

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…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

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.…

We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of real-world uncertainties. Our approach leverages a model-based…

Transferring policies learned in simulation to the real world is a promising strategy for acquiring robot skills at scale. However, sim-to-real approaches typically rely on manual design and tuning of the task reward function as well as the…

Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous…

Recently, reinforcement learning (RL) algorithms have demonstrated remarkable success in learning complicated behaviors from minimally processed input. However, most of this success is limited to simulation. While there are promising…