Канал: Hybrid Robotics

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control

Supplementary Running Experiments - RL for Versatile, Dynamic, and Robust Bipedal Locomotion Control

Supplementary Running Experiments - RL for Versatile, Dynamic, and Robust Bipedal Locomotion Control

Supplementary Walking Experiments - RL for Versatile, Dynamic, and Robust Bipedal Locomotion Control

Supplementary Walking Experiments - RL for Versatile, Dynamic, and Robust Bipedal Locomotion Control

400m dash - RL for Versatile, Dynamic, and Robust Bipedal Locomotion Control

400m dash - RL for Versatile, Dynamic, and Robust Bipedal Locomotion Control

Humanoid Locomotion as Next Token Prediction

Humanoid Locomotion as Next Token Prediction

Real-World Humanoid Locomotion with Reinforcement Learning

Real-World Humanoid Locomotion with Reinforcement Learning

Learning Torque Control for Quadrupedal Locomotion

Learning Torque Control for Quadrupedal Locomotion

Learning Humanoid Locomotion with Transformers

Learning Humanoid Locomotion with Transformers

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning

Walking in Narrow Spaces NMPC DCBF Duality

Walking in Narrow Spaces NMPC DCBF Duality

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with CBFs

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with CBFs

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

Bridging Model-based Safety and Mode-free RL through System Identification of Linear Models

Bridging Model-based Safety and Mode-free RL through System Identification of Linear Models

Competitive Car Racing with Multiple Vehicles

Competitive Car Racing with Multiple Vehicles

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

Adapting Rapid Motor Adaptation for Bipedal Robots

Adapting Rapid Motor Adaptation for Bipedal Robots

Bridging Model-based Safety and Mode-free RL through System Identification of Linear Models

Bridging Model-based Safety and Mode-free RL through System Identification of Linear Models

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion

Safety-Critical Control for Obstacle Avoidance between Polytopes with Control Barrier Functions

Safety-Critical Control for Obstacle Avoidance between Polytopes with Control Barrier Functions

Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries

Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries

Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments

Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments

Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertainty

Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertainty

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction

Animated Cassie: A Dynamic Relatable Robotic Character

Animated Cassie: A Dynamic Relatable Robotic Character

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles

Rule-Based Safety-Critical Control Design using CBFs with Application to Autonomous Lane Change

Rule-Based Safety-Critical Control Design using CBFs with Application to Autonomous Lane Change

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction

Motion Planning and Feedback Control for Bipedal Robots riding a Snakeboard

Motion Planning and Feedback Control for Bipedal Robots riding a Snakeboard

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Animated Cassie: A Dynamic Relatable Robotic Character

Animated Cassie: A Dynamic Relatable Robotic Character

Dynamic Legged Manipulation of a Ball through Multi-Contact Optimization

Dynamic Legged Manipulation of a Ball through Multi-Contact Optimization

Multiple Quadrotors Carrying a Flexible Hose: Dynamics, Differential-Flatness and Control

Multiple Quadrotors Carrying a Flexible Hose: Dynamics, Differential-Flatness and Control

Differential Flatness based Direct Collocation for a Quadrotor with a Cable-Suspended Payload

Differential Flatness based Direct Collocation for a Quadrotor with a Cable-Suspended Payload

Ball Juggling with Cassie Cal

Ball Juggling with Cassie Cal

Legged Robot State Estimation in Slippery Environments Using Invariant EKF with Velocity Update

Legged Robot State Estimation in Slippery Environments Using Invariant EKF with Velocity Update

Geometric L1 Adaptive Attitude Control for Quadrotor UAV

Geometric L1 Adaptive Attitude Control for Quadrotor UAV

Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot

Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot

Safe Teleoperation of Dynamic UAVs through Control Barrier Functions

Safe Teleoperation of Dynamic UAVs through Control Barrier Functions

Dynamic Bipedal Locomotion over Stochastic Discrete Terrain

Dynamic Bipedal Locomotion over Stochastic Discrete Terrain

Deep Visual Perception for Dynamic Walking on Discrete Terrain

Deep Visual Perception for Dynamic Walking on Discrete Terrain

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview

Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons

Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons

Optimal Robust Safety-Critical Control for Dynamic Robotics

Optimal Robust Safety-Critical Control for Dynamic Robotics

Safety-Critical Geometric Control for Systems on Manifolds

Safety-Critical Geometric Control for Systems on Manifolds

Safety-Critical Control of a 3D Quadrotor with Range-Limited Sensing

Safety-Critical Control of a 3D Quadrotor with Range-Limited Sensing

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions

3D Dynamic Walking on Stepping Stones with Control Barrier Functions

3D Dynamic Walking on Stepping Stones with Control Barrier Functions