相关论文: Learning Bipedal Robot Locomotion from Human Movem…

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…

Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. To address this, we propose a novel RL framework leveraging…

Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-based deep reinforcement learning. We…

Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…

Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…

In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…

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…

Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…

Generating physical movement behaviours from their symbolic description is a long-standing challenge in artificial intelligence (AI) and robotics, requiring insights into numerical optimization methods as well as into formalizations from…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

Humanoid robots promise transformative capabilities for industrial and service applications. While recent advances in Reinforcement Learning (RL) yield impressive results in locomotion, manipulation, and navigation, the proposed methods…

Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…

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…