相关论文: Look Forward to Walk Backward: Efficient Terrain M…
Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and…
Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…
Training perceptive humanoid locomotion policies that traverse complex terrains with natural gaits remains an open challenge, typically demanding multi-stage training pipelines, adversarial objectives, or extensive real-world calibration.…
State-of-the-art perceptive Reinforcement Learning controllers for legged robots either (i) impose oscillator or IK-based gait priors that constrain the action space, add bias to the policy optimization and reduce adaptability across robot…
Reinforcement learning (RL), driven by data-driven methods, has become an effective solution for robot leg motion control problems. However, the mainstream RL methods for bipedal robot terrain traversal, such as teacher-student policy…
Feedforward reconstruction is crucial for autonomous driving applications, where rapid scene reconstruction enables efficient utilization of large-scale driving datasets in closed-loop simulation and other downstream tasks, eliminating the…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…
In nature, legged animals have developed the ability to adapt to challenging terrains through perception, allowing them to plan safe body and foot trajectories in advance, which leads to safe and energy-efficient locomotion. Inspired by…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and proprioceptive sensory data. Existing works use robot-agnostic…
Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately model the robot's dynamics over a long horizon, we…