相关论文: StyleLoco: Generative Adversarial Distillation for…

Deep generative models have recently shown great promise in imitation learning for motor control. Given enough data, even supervised approaches can do one-shot imitation learning; however, they are vulnerable to cascading failures when the…

In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics. With the rapid advancement of reinforcement learning,…

This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…

Humanoid robots are promising to learn a diverse set of human-like locomotion behaviors, including standing up, walking, running, and jumping. However, existing methods predominantly require training independent policies for each skill,…

Human motion driven control (HMDC) is an effective approach for generating natural and compelling robot motions while preserving high-level semantics. However, establishing the correspondence between humans and robots with different body…

Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness across different gaits. We present a…

Developing controllers for agile locomotion is a long-standing challenge for legged robots. Reinforcement learning (RL) and Evolution Strategy (ES) hold the promise of automating the design process of such controllers. However, dedicated…

Human motion stylization aims to revise the style of an input motion while keeping its content unaltered. Unlike existing works that operate directly in pose space, we leverage the latent space of pretrained autoencoders as a more…

Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…

Generative Adversarial Imitation Learning (GAIL) trains a generative policy to mimic a demonstrator. It uses on-policy Reinforcement Learning (RL) to optimize a reward signal derived from a GAN-like discriminator. A major drawback of GAIL…

We introduce adversarial learning methods for data-driven generative modeling of the dynamics of $n^{th}$-order stochastic systems. Our approach builds on Generative Adversarial Networks (GANs) with generative model classes based on stable…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

We present an approach for mobile robots to learn to navigate in dynamic environments with pedestrians via raw depth inputs, in a socially compliant manner. To achieve this, we adopt a generative adversarial imitation learning (GAIL)…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Legged robots are well-suited for navigating terrains inaccessible to wheeled robots, making them ideal for applications in search and rescue or space exploration. However, current control methods often struggle to generalize across…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

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…

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…