相关论文: SDS -- See it, Do it, Sorted: Quadruped Skill Synt…

Unsupervised skill discovery is a learning paradigm that aims to acquire diverse behaviors without explicit rewards. However, it faces challenges in learning complex behaviors and often leads to learning unsafe or undesirable behaviors. For…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed to extract a consistent skill representation. This process…

Humans can learn to manipulate new objects by simply watching others; providing robots with the ability to learn from such demonstrations would enable a natural interface specifying new behaviors. This work develops Robot See Robot Do…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

The recent mainstream reinforcement learning control for quadruped robots often relies on privileged information, demanding meticulous selection and precise estimation, thereby imposing constraints on the development process. This work…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

Unsupervised skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodic nature of learned skills, focusing instead on increasing…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…

This paper develops a hierarchical learning and optimization framework that can learn and achieve well-coordinated multi-skill locomotion. The learned multi-skill policy can switch between skills automatically and naturally in tracking…

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…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are…

Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…