相关论文: End-to-End Multi-Task Policy Learning from NMPC fo…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement learning (MFRL), which is incredibly flexible and general…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first implementation of a robust end-to-end learning-based controller on…

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Recent advancements in large-scale offline training have demonstrated the potential of generalist policy learning for complex robotic tasks. However, applying these principles to legged locomotion remains a challenge due to continuous…

Multi-task learning (MTL) is a subfield of machine learning in which multiple tasks are simultaneously learned by a shared model. Such approaches offer advantages like improved data efficiency, reduced overfitting through shared…

Quadrupedal robots show great potential for valuable real-world applications such as fire rescue and industrial inspection. Such applications often require urgency and the ability to navigate agilely, which in turn demands the capability to…

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…

Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for…

This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…

Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…

Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…