相关论文: Visual Whole-Body Control for Legged Loco-Manipula…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
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…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…
Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulation is often constrained to specific tasks or predetermined…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…