From the 1 of 6 linked papers with an AI index.
6 papers
EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal
Alex Brandes, Haig Conti Georges Sajelian, Manthan Patel +11
The paper introduces EgoHTR, a dataset of egocentric 4D human motion captured in complex, unstructured terrain using wearable sensors and a portable 3D scanner, and demonstrates it…
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Zewei Zhang, Kehan Wen, Michael Xu +7
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard pe…
What Matters for Simulation to Online Reinforcement Learning on Real Robots
Yarden As, Dhruva Tirumala, René Zurbrügg +4
We investigate what specific design choices enable successful online reinforcement learning (RL) on physical robots. Across 100 real-world training runs on three distinct robotic p…
Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning
Ziming Li, Chenhao Li, Marco Hutter
Curriculum learning has demonstrated substantial effectiveness in robot learning. However, it still faces limitations when scaling to complex, wide-ranging task spaces. Such task s…
Multi-Domain Motion Embedding: Expressive Real-Time Mimicry for Legged Robots
Matthias Heyrman, Chenhao Li, Victor Klemm +3
Effective motion representation is crucial for enabling robots to imitate expressive behaviors in real time, yet existing motion controllers often ignore inherent patterns in motio…
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility
Zewei Zhang, Chenhao Li, Takahiro Miki +1
Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but of…