相关论文: Think on your feet: Seamless Transition between Hu…

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…

Imitation learning models for robotic tasks typically rely on multi-modal inputs, such as RGB images, language, and proprioceptive states. While proprioception is intuitively important for decision-making and obstacle avoidance, simply…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…

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 presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

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…

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…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…

We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automatically discovering behavioral modes and mapping user steering…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…

The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…

Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…