相关论文: FALCON: Learning Force-Adaptive Humanoid Loco-Mani…

Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The standard hierarchical control pipeline for such legged…

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…

Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…

Designing analog circuits from performance specifications is a complex, multi-stage process encompassing topology selection, parameter inference, and layout feasibility. We introduce FALCON, a unified machine learning framework that enables…

Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing…

Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as…

Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches that mimic whole-body motions often neglect the distinct…

Machine-learning algorithms have shown outstanding image recognition or classification performance for computer vision applications. However, the compute and energy requirement for implementing such classifier models for large-scale…

Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feasible manipulation envelope. We propose \textbf{FAME}, a…

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…

Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…

Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches…

Large language models (LLMs) have emerged as promising general-purpose solvers for combinatorial optimization (CO), yet they fundamentally lack mechanisms to guarantee solution feasibility which is critical for real-world deployment. In…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…