相关论文: Learning Generic and Dynamic Locomotion of Humanoi…

Dynamic quadruped locomotion over challenging terrains with precise foot placements is a hard problem for both optimal control methods and Reinforcement Learning (RL). Non-linear solvers can produce coordinated constraint satisfying…

Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…

Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly applying reinforcement learning (RL) with…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…

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…

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…

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…

We present a method for training reference-guided, perceptive reinforcement learning locomotion policies for humanoid robots in which reference trajectories are modulated in training to be consistent with terrain geometry. Aiming to deploy…

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 are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…

This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

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…

Reliable and stable locomotion has been one of the most fundamental challenges for legged robots. Deep reinforcement learning (deep RL) has emerged as a promising method for developing such control policies autonomously. In this paper, we…

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in 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…