63 citations · 178 across the 11 of their papers we have counts for
11 papers
Learning-based legged locomotion; state of the art and future perspectives
Sehoon Ha, Joonho Lee, Michiel van de Panne +3
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advan…
Hierarchical Planning and Control for Box Loco-Manipulation
Zhaoming Xie, Jonathan Tseng, Sebastian Starke +2
Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We p…
Learning Bipedal Walking for Humanoids with Current Feedback
Rohan Pratap Singh, Zhaoming Xie, Pierre Gergondet +1
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged ro…
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors
Yuni Fuchioka, Zhaoming Xie, Michiel van de Panne
Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solution…
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Zhaoming Xie, Xingye Da, Buck Babich +2
Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robo…
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion
Zhaoming Xie, Xingye Da, Michiel van de Panne +2
Understanding the gap between simulation and reality is critical for reinforcement learning with legged robots, which are largely trained in simulation. However, recent work has re…
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
Xingye Da, Zhaoming Xie, David Hoeller +5
We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The sy…
ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills
Zhaoming Xie, Hung Yu Ling, Nam Hee Kim +1
Humans are highly adept at walking in environments with foot placement constraints, including stepping-stone scenarios where the footstep locations are fully constrained. Finding g…
Learning to Correspond Dynamical Systems
Nam Hee Kim, Zhaoming Xie, Michiel van de Panne
Many dynamical systems exhibit similar structure, as often captured by hand-designed simplified models that can be used for analysis and control. We develop a method for learning t…
Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie
Zhaoming Xie, Patrick Clary, Jeremy Dao +3
Deep reinforcement learning (DRL) is a promising approach for developing legged locomotion skills. However, the iterative design process that is inevitable in practice is poorly su…
Feedback Control For Cassie With Deep Reinforcement Learning
Zhaoming Xie, Glen Berseth, Patrick Clary +2
Bipedal locomotion skills are challenging to develop. Control strategies often use local linearization of the dynamics in conjunction with reduced-order abstractions to yield tract…