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

Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and…

This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and control on roads with the presence of a sequence of traffic…

We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…

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.…

In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…

Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrained: retargeted data are often scarce or low-quality;…

This article presents a method to automatically generate energy-optimal trajectories for systems with linear dynamics, linear constraints, and a quadratic cost functional (LQ systems). First, using recent advancements in optimal control, we…

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…

In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…

Meta reinforcement learning (Meta-RL) is an approach wherein the experience gained from solving a variety of tasks is distilled into a meta-policy. The meta-policy, when adapted over only a small (or just a single) number of steps, is able…

Humanoid robots have seen significant advancements in both design and control, with a growing emphasis on integrating these aspects to enhance overall performance. Traditionally, robot design has followed a sequential process, where control…

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…

Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

In recent years, the development of Artificial Intelligence (AI) has shown tremendous potential in diverse areas. Among them, reinforcement learning (RL) has proven to be an effective solution for learning intelligent control strategies. As…

Understanding pedestrian behavior is crucial for the safe deployment of Autonomous Vehicles (AVs) in urban environments. Traditional pedestrian behavior models often fall into two categories: mechanistic models, which do not generalize well…

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…

Recent advances in reinforcement learning (RL) have improved the reasoning capabilities of large language models (LLMs) and vision-language models (VLMs). However, the widely used Group Relative Policy Optimization (GRPO) consistently…

Model-based Reinforcement Learning (MBRL) is a promising framework for learning control in a data-efficient manner. MBRL algorithms can be fairly complex due to the separate dynamics modeling and the subsequent planning algorithm, and as a…

In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…