相关论文: Sim-to-Real Learning of Footstep-Constrained Biped…

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…

Typically, learned robot controllers are trained via relatively unsystematic regimens and evaluated with coarse-grained outcome measures such as average cumulative reward. The typical approach is useful to compare learning algorithms but…

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…

Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…

Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…

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…

Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…

Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of…

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…

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as…

Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain…

Not until recently, robust bipedal locomotion has been achieved through reinforcement learning. However, existing implementations rely heavily on insights and efforts from human experts, which is costly for the iterative design of robot…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

Dynamic quadruped locomotion over challenging terrains with precise foot placements is a hard problem for both optimal control methods and Reinforcement Learning (RL). Non-linear solvers can produce coordinated constraint satisfying…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

Teaching an anthropomorphic robot from human example offers the opportunity to impart humanlike qualities on its movement. In this work we present a reinforcement learning based method for teaching a real world bipedal robot to perform…

We successfully evolved a neural network controller that produces dynamic walking in a simulated bipedal robot with compliant actuators, a difficult control problem. The evolutionary evaluation uses a detailed software simulation of a…

In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a…