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

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Objective: Enhancing the reliability of myoelectric controllers that decode motor intent is a pressing challenge in the field of bionic prosthetics. State-of-the-art research has mostly focused on Supervised Learning (SL) techniques to…

Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…

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.…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

In sim-to-real Reinforcement Learning (RL), a policy is trained in a simulated environment and then deployed on the physical system. The main challenge of sim-to-real RL is to overcome the reality gap - the discrepancies between the real…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between different states such as up-right walking and…

Deep reinforcement learning (RL) can enable robots to autonomously acquire complex behaviors, such as legged locomotion. However, RL in the real world is complicated by constraints on efficiency, safety, and overall training stability,…

We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…

This work presents reinforcement learning (RL)-driven data augmentation to improve the generalization of vision-action (VA) models for dexterous grasping. While real-to-sim-to-real frameworks, where a few real demonstrations seed…

In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…

Classical control techniques such as PID and LQR have been used effectively in maintaining a system state, but these techniques become more difficult to implement when the model dynamics increase in complexity and sensitivity. For adaptive…

Reinforcement learning (RL) offers transformative potential for robotic control in space. We present the first on-orbit demonstration of RL-based autonomous control of a free-flying robot, the NASA Astrobee, aboard the International Space…

Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep…

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…

We investigate whether Deep Reinforcement Learning (Deep RL) is able to synthesize sophisticated and safe movement skills for a low-cost, miniature humanoid robot that can be composed into complex behavioral strategies in dynamic…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…