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Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

In the field of legged robot motion control, reinforcement learning (RL) holds great promise but faces two major challenges: high computational cost for training individual robots and poor generalization of trained models. To address these…

Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion follows a position-based paradigm, wherein an RL policy outputs target joint positions…

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…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising…

We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of real-world uncertainties. Our approach leverages a model-based…

While Reinforcement Learning (RL) has achieved remarkable progress in legged locomotion control, it often suffers from performance degradation in out-of-distribution (OOD) conditions and discrepancies between the simulation and the real…

Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and…

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…

Deep learning techniques have been widely applied, achieving state-of-the-art results in various fields of study. This survey focuses on deep learning solutions that target learning control policies for robotics applications. We carry out…

Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of complex controllers that can map sensory inputs directly to low-level actions. In the domain of robotic locomotion, deep RL could enable learning…

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,…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Deep reinforcement learning (DRL) is a promising approach for developing legged locomotion skills. However, the iterative design process that is inevitable in practice is poorly supported by the default methodology. It is difficult to…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Snake robots, comprised of sequentially connected joint actuators, have recently gained increasing attention in the industrial field, like life detection in narrow space. Such robots can navigate through the complex environment via the…