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

Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

During learning trials, systems are exposed to different failure conditions which may break robotic parts before a safe behavior is discovered. Humans contour this problem by grounding their learning to a safer structure/control first and…

Imitation learning is a control design paradigm that seeks to learn a control policy reproducing demonstrations from expert agents. By substituting expert demonstrations for optimal behaviours, the same paradigm leads to the design of…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

We propose $\textit{iterative inversion}$ -- an algorithm for learning an inverse function without input-output pairs, but only with samples from the desired output distribution and access to the forward function. The key challenge is a…

Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…

Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot. In contrast, approximate reduced-order models are…

Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…

The recent mainstream reinforcement learning control for quadruped robots often relies on privileged information, demanding meticulous selection and precise estimation, thereby imposing constraints on the development process. This work…

Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…

In this paper, we propose a robust controller that achieves natural and stably fast locomotion on a real blind quadruped robot. With only proprioceptive information, the quadruped robot can move at a maximum speed of 10 times its body…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…

We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The…

We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to…

Dynamic quadruped locomotion over challenging terrains with precise foot placements is a hard problem for both optimal control methods and Reinforcement Learning (RL). Non-linear solvers can produce coordinated constraint satisfying…

Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…

Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate…

Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…