相关论文: Sim-to-Real Learning for Humanoid Box Loco-Manipul…

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…

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…

Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…

We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…

Training robots to perceive, act and communicate using multiple modalities still represents a challenging problem, particularly if robots are expected to learn efficiently from small sets of example interactions. We describe a learning…

This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a reinforcement learning framework for training a…

The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…

Deep Reinforcement Learning (RL) has emerged as a promising method to develop humanoid robot locomotion controllers. Despite the robust and stable locomotion demonstrated by previous RL controllers, their behavior often lacks the natural…

Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…

In this paper, we review the question of which action space is best suited for controlling a real biped robot in combination with Sim2Real training. Position control has been popular as it has been shown to be more sample efficient and…

Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…