相关论文: SATA: Safe and Adaptive Torque-Based Locomotion Po…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…

Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…

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…

This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Prior sim-to-real methods for legged robots mostly rely on the domain randomization approach, where a fixed…

Large-scale self-supervised models have recently revolutionized our ability to perform a variety of tasks within the vision and language domains. However, using such models for autonomous systems is challenging because of safety…

Adapting a trained model to perform satisfactorily on continually changing testing domains/environments is an important and challenging task. In this work, we propose a novel framework, SATA, which aims to satisfy the following…

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…

Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to this shift, the community has also turned to Deep…

In this paper, we review the question of which action space is best suited for controlling a real biped robot in combination with Sim2Real training. Position control has been popular as it has been shown to be more sample efficient and…

Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…

Transformers have become the foundation of numerous state-of-the-art AI models across diverse domains, thanks to their powerful attention mechanism for modeling long-range dependencies. However, the quadratic scaling complexity of attention…

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…

Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…

Over the past few years, vision transformers (ViTs) have consistently demonstrated remarkable performance across various visual recognition tasks. However, attempts to enhance their robustness have yielded limited success, mainly focusing…

Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety,…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots. This prior work, however, has focused on learning joint-coordination controllers based on an objective of…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics Transformers (RT) for on-robot deployment. SARA-RT relies on the new method of…