相关论文: Learning Quadruped Walking from Seconds of Demonst…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

Deep reinforcement learning is a promising approach to learning policies in uncontrolled environments that do not require domain knowledge. Unfortunately, due to sample inefficiency, deep RL applications have primarily focused on simulated…

Resource-constrained robotic platforms are particularly useful for tasks that require low-cost hardware alternatives due to the risk of losing the robot, like in search-and-rescue applications, or the need for a large number of devices,…

Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) offline adapting to new locomotion behaviours after training.…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

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…

Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…

We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automatically discovering behavioral modes and mapping user steering…

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…

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…

Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…

Traditional RL-based locomotion controllers often suffer from low data efficiency, requiring extensive interaction to achieve robust performance. We present a model-based reinforcement learning (MBRL) framework that improves sample…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles. The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body…

Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivates the need for automatic methods that extract task-specific,…

Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…