相关论文: RMA: Rapid Motor Adaptation for Legged Robots

Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage…

Legged robots operating in real-world environments must possess the ability to rapidly adapt to unexpected conditions, such as changing terrains and varying payloads. This paper introduces the Synaptic Motor Adaptation (SMA) algorithm, a…

We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…

Developing generalizable manipulation skills is a core challenge in embodied AI. This includes generalization across diverse task configurations, encompassing variations in object shape, density, friction coefficient, and external…

Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…

Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…

Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…

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…

We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment prediction. Using a history-augmented URMA architecture, the method infers joint-level and…

Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…

To succeed in the real world, robots must cope with situations that differ from those seen during training. We study the problem of adapting on-the-fly to such novel scenarios during deployment, by drawing upon a diverse repertoire of…

Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

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…

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…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…