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cs.RO2025
UniLegs: Universal Multi-Legged Robot Control through Morphology-Agnostic Policy Distillation
Weijie Xi, Zhanxiang Cao, Chenlin Ming +2
Developing controllers that generalize across diverse robot morphologies remains a significant challenge in legged locomotion. Traditional approaches either create specialized cont…
cs.RO2025
Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration
Chenlin Ming, Zitong Wang, Boxuan Zhang +3
Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape charact…