相关论文: Learning Smooth Humanoid Locomotion through Lipsch…

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…

Proximal Policy Optimization (PPO) has become the de facto standard for training legged robots, thanks to its robustness and scalability in massively parallel simulation environments like IsaacLab. However, its on-policy nature makes it…

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…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Recent advancements in reinforcement learning (RL) have led to significant progress in humanoid robot locomotion, simplifying the design and training of motion policies in simulation. However, the numerous implementation details make…

Reinforcement Learning (RL)-based methods have significantly improved the locomotion performance of legged robots. However, these motion policies face significant challenges when deployed in the real world. Robots operating in uncertain…

In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…

During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

Humanoid locomotion is a key skill to bring humanoids out of the lab and into the real-world. Many motion generation methods for locomotion have been proposed including reinforcement learning (RL). RL locomotion policies offer great…

Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain…

Robots equipped with rich sensing modalities (e.g., RGB-D cameras) performing long-horizon tasks motivate the need for policies that are highly memory-efficient. State-of-the-art approaches for controlling robots often use memory…

In this work, we propose a framework to learn feedback control policies with guarantees on closed-loop generalization and adversarial robustness. These policies are learned directly from expert demonstrations, contained in a dataset of…

Reinforcement Learning (RL) has shown its remarkable and generalizable capability in legged locomotion through sim-to-real transfer. However, while adaptive methods like domain randomization are expected to enhance policy robustness across…

Recently proposed reward-conditioned policies (RCPs) offer an appealing alternative in reinforcement learning. Compared with policy gradient methods, policy learning in RCPs is simpler since it is based on supervised learning, and unlike…

An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…