相关论文: Learning Risk-Aware Quadrupedal Locomotion using D…

Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…

Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…

Safety in reinforcement learning (RL) is a key property in both training and execution in many domains such as autonomous driving or finance. In this paper, we formalize it with a constrained RL formulation in the distributional RL setting.…

Standard deep reinforcement learning (DRL) aims to maximize expected reward, considering collected experiences equally in formulating a policy. This differs from human decision-making, where gains and losses are valued differently and…

In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot…

Electrically-actuated quadrupedal robots possess high mobility on complex terrains, but their motors tend to accumulate heat under high-torque cyclic loads, potentially triggering overheat protection and limiting long-duration tasks. This…

Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly legged robots, but motor overheating is a key factor that limits long-duration locomotion especially under payload conditions. This…

Achieving robust robot learning for humanoid locomotion is a fundamental challenge in model-based reinforcement learning (MBRL), where environmental stochasticity and randomness can hinder efficient exploration and learning stability. The…

State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized…

In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances,…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…

This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a…

This work focuses on sampling strategies of configuration variations for generating robust universal locomotion policies for quadrupedal robots. We investigate the effects of sampling physical robot parameters and joint…

Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely…

Adaptive recovery from fall incidents are essential skills for the practical deployment of wheeled-legged robots, which uniquely combine the agility of legs with the speed of wheels for rapid recovery. However, traditional methods relying…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…