相关论文: Learning Navigation Skills for Legged Robots with …

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and…

This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…

State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized…

We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a set of diverse policies that…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged…

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…