相关论文: GRoQ-LoCO: Generalist and Robot-agnostic Quadruped…

Most modern approaches to quadruped locomotion focus on using Deep Reinforcement Learning (DRL) to learn policies from scratch, in an end-to-end manner. Such methods often fail to scale, as every new problem or application requires…

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…

We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…

On-robot Reinforcement Learning is a promising approach to train embodiment-aware policies for legged robots. However, the computational constraints of real-time learning on robots pose a significant challenge. We present a framework for…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, locomotion control is still a challenging task for quadruped…

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…

Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…

In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot…

Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…

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 work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a…

The prevailing paradigm of perceptive humanoid locomotion relies heavily on active depth sensors. However, this depth-centric approach fundamentally discards the rich semantic and dense appearance cues of the visual world, severing…

Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…

In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…

While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single policy that masters all these skills remains challenging due…

Reinforcement learning (RL) has enabled robust quadruped locomotion over complex terrain, but most learned controllers are trained offline with backpropagation in massively parallel simulation and deployed as fixed policies, limiting…