相关论文: EMP: Executable Motion Prior for Humanoid Robot St…

Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

In embodied intelligence, the embodiment gap between robotic and human hands brings significant challenges for learning from human demonstrations. Although some studies have attempted to bridge this gap using reinforcement learning, they…

We present Reusable Motion prior (ReMP), an effective motion prior that can accurately track the temporal evolution of motion in various downstream tasks. Inspired by the success of foundation models, we argue that a robust spatio-temporal…

Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-based deep reinforcement learning. We…

The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…

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…

Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness across different gaits. We present a…

Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…

Embodied robots nowadays can already handle many real-world manipulation tasks. However, certain other real-world tasks involving dynamic processes (e.g., shooting a basketball into a hoop) are highly agile and impose high precision…

This early-stage research work aims to improve online human-robot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment.…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…

In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…

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…