相关论文: HACL: History-Aware Curriculum Learning for Fast L…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

A major problem with Active Learning (AL) is high training costs since models are typically retrained from scratch after every query round. We start by demonstrating that standard AL on neural networks with warm starting fails, both to…

Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots. We present an end-to-end learned controller that achieves record agility for the MIT Mini Cheetah, sustaining speeds up to 3.9 m/s. This…

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…

General-purpose learning systems should improve themselves in open-ended fashion in ever-changing environments. Conventional learning algorithms for neural networks, however, suffer from catastrophic forgetting (CF), i.e., previously…

In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…

The high cost of real-world data for robotics Reinforcement Learning (RL) leads to the wide usage of simulators. Despite extensive work on building better dynamics models for simulators to match with the real world, there is another,…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…

We address a benchmark task in agile robotics: catching objects thrown at high-speed. This is a challenging task that involves tracking, intercepting, and cradling a thrown object with access only to visual observations of the object and…

We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Quadrupedal locomotion plays a critical role in enabling agile, versatile movement across complex terrains. Understanding and estimating the underlying physical dynamics are essential for achieving efficient and stable quadrupedal…

Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety,…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

In-Context Learning (ICL) is a significant paradigm for Large Multimodal Models (LMMs), using a few in-context demonstrations (ICDs) for new task adaptation. However, its performance is sensitive to demonstration configurations and…

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…

Enabling humanoid robots to achieve natural and dynamic locomotion across a wide range of speeds, including smooth transitions from walking to running, presents a significant challenge. Existing deep reinforcement learning methods typically…