Model predictive control of legged and humanoid robots: models and algorithms
Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …
research topic in the past decade. While MPC for robotic systems has a long history, its …
Rapid locomotion via reinforcement learning
Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for
legged robots. We present an end-to-end learned controller that achieves record agility for …
legged robots. We present an end-to-end learned controller that achieves record agility for …
Neural volumetric memory for visual locomotion control
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In
this work, we consider the difficult problem of locomotion on challenging terrains using a …
this work, we consider the difficult problem of locomotion on challenging terrains using a …
High-speed quadrupedal locomotion by imitation-relaxation reinforcement learning
Y **, X Liu, Y Shao, H Wang, W Yang - Nature Machine Intelligence, 2022 - nature.com
Fast and stable locomotion of legged robots involves demanding and contradictory
requirements, in particular rapid control frequency as well as an accurate dynamics model …
requirements, in particular rapid control frequency as well as an accurate dynamics model …
Agile but safe: Learning collision-free high-speed legged locomotion
Legged robots navigating cluttered environments must be jointly agile for efficient task
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
Representation-free model predictive control for dynamic motions in quadrupeds
This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …
framework for controlling various dynamic motions of a quadrupedal robot in three …
TAMOLS: Terrain-aware motion optimization for legged systems
Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through
a robot-centric visual unit, appears partially occluded and noisy. This article presents the …
a robot-centric visual unit, appears partially occluded and noisy. This article presents the …
Learning vision-guided quadrupedal locomotion end-to-end with cross-modal transformers
We propose to address quadrupedal locomotion tasks using Reinforcement Learning (RL)
with a Transformer-based model that learns to combine proprioceptive information and high …
with a Transformer-based model that learns to combine proprioceptive information and high …
Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors
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 …
The imitation of reference motions provides a simple and powerful prior for guiding solutions …