相关论文: ECO: Energy-Constrained Optimization with Reinforc…

Hybrid electric vehicles (HEVs) are becoming increasingly popular because they can better combine the working characteristics of internal combustion engines and electric motors. However, the minimum fuel consumption of an HEV for a battery…

Training reinforcement learning (RL) policies for legged robots remains challenging due to high-dimensional continuous actions, hardware constraints, and limited exploration. Existing methods for locomotion and whole-body control work well…

This paper presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…

We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…

Recent advances in constrained reinforcement learning (RL) have endowed reinforcement learning with certain safety guarantees. However, deploying existing constrained RL algorithms in continuous control tasks with general hard constraints…

This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…

Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robust, and energy efficient. While learning-based locomotion…

This article proposes the Ecological Cycle Optimizer (ECO), a novel metaheuristic algorithm inspired by energy flow and material cycling in ecosystems. ECO draws an analogy between the dynamic process of solving optimization problems and…

The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, provable safety, and socially aware behavior. Current…

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…

Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based planners struggle with contact complexity, while on-policy…

Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…

With the end of Moore's Law, optimizing code for performance has become paramount for meeting ever-increasing compute demands, particularly in hyperscale data centers where even small efficiency gains translate to significant resource and…

During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…

Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…

Learning is the basis of both biological and artificial systems when it comes to mimicking intelligent behaviors. From the classical PPO (Proximal Policy Optimization), there is a series of deep reinforcement learning algorithms which are…

Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…

Model Predictive Control (MPC) and Reinforcement Learning (RL) are two prominent strategies for controlling legged robots, each with unique strengths. RL learns control policies through system interaction, adapting to various scenarios,…

Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…