相关论文: SigLoMa: Learning Open-World Quadrupedal Loco-Mani…

Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…

Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…

Building intelligent autonomous systems at any scale is challenging. The sensing and computation constraints of a microrobot platform make the problems harder. We present improvements to learning-based methods for on-board learning of…

Collaborative perception integrates multi-agent perspectives to enhance the sensing range and overcome occlusion issues. While existing multimodal approaches leverage complementary sensors to improve performance, they are highly prone to…

Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…

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…

Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate…

Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…

Accurate proprioceptive odometry is fundamental for legged robot navigation in GPS-denied and visually degraded environments where conventional visual odometry systems fail. Current approaches face critical limitations: analytical filtering…

Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…

We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…

Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades performance on fine-grained tasks, and training a unified policy…

Quadrupedal locomotion is a complex, open-ended problem vital to expanding autonomous vehicle reach. Traditional reinforcement learning approaches often fall short due to training instability and sample inefficiency. We propose a novel…

With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…

In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and the robotic arm of a wheeled-quadrupedal manipulator robot…

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually…