Publications (19)
A Rapid Deployment Pipeline for Autonomous Humanoid Grasping Based on Foundation Models
Yifei Yan, Yankai Liao, Linqi Ye
Deploying a humanoid robot to manipulate a new object has traditionally required one to two days of effort: data collection, manual annotation, 3D model acquisition, and model trai…
MBC: Multi-Brain Collaborative Control for Quadruped Robots
Hang Liu, Yi Cheng, Rankun Li +3
In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor inf…
Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
Yulai Zhang, Yinrong Zhang, Ting Wu +1
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching iss…
Unity RL Playground: A Versatile Reinforcement Learning Framework for Mobile Robots
Linqi Ye, Rankun Li, Xiaowen Hu +4
This paper introduces Unity RL Playground, an open-source reinforcement learning framework built on top of Unity ML-Agents. Unity RL Playground automates the process of training mo…
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning
Linqi Ye, Jiayi Li, Yi Cheng +3
Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement…
Tree Learning: A Multi-Skill Continual Learning Framework for Humanoid Robots
Yifei Yan, Linqi Ye
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become…