相关论文: Learning Semantics-Aware Locomotion Skills from Hu…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…

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…

For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…

Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…

Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…

Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…

Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…

Deep reinforcement learning is a promising approach to learning policies in uncontrolled environments that do not require domain knowledge. Unfortunately, due to sample inefficiency, deep RL applications have primarily focused on simulated…

In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…

Enabling bipedal walking robots to learn how to maneuver over highly uneven, dynamically changing terrains is challenging due to the complexity of robot dynamics and interacted environments. Recent advancements in learning from…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…