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cs.RO2024
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
Pranay Dugar, Aayam Shrestha, Fangzhou Yu +2
A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joy…
cs.RO2024★ 2 cited
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking
Bart van Marum, Aayam Shrestha, Helei Duan +3
A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances. Recent progress has been made using sim-to-real reinforcement lear…