相关论文: Learning Humanoid Arm Motion via Centroidal Moment…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either manipulation or locomotion, with minimal exploration of tasks…

We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whose runtimes often scale exponentially with team size, and…

Cognitive map learners (CML) have been shown to enable hierarchical, compositional machine learning. That is, interpedently trained CML modules can be arbitrarily composed together to solve more complex problems without task-specific…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…

Deep Reinforcement Learning (RL) has emerged as a promising method to develop humanoid robot locomotion controllers. Despite the robust and stable locomotion demonstrated by previous RL controllers, their behavior often lacks the natural…

Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

We consider model-based reinforcement learning (MBRL) in 2-agent, high-fidelity continuous control problems -- an important domain for robots interacting with other agents in the same workspace. For non-trivial dynamical systems, MBRL…

We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…

Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…

Humanoid locomotion is a key skill to bring humanoids out of the lab and into the real-world. Many motion generation methods for locomotion have been proposed including reinforcement learning (RL). RL locomotion policies offer great…

Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot. In contrast, approximate reduced-order models are…

Homing and navigation are fundamental behaviors in biological systems that enable agents to reliably reach a target under uncertainty. We present a Reinforcement Learning (RL) framework to model adaptive homing in continuous two-dimensional…

Many real world tasks require multiple agents to work together. Multi-agent reinforcement learning (RL) methods have been proposed in recent years to solve these tasks, but current methods often fail to efficiently learn policies. We thus…

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,…

Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design.…