198 citations · 225 across the 4 of their papers we have counts for
6 papers
Multi-expert learning of adaptive legged locomotion
Chuanyu Yang, Kai Yuan, Qiuguo Zhu +2
Achieving versatile robot locomotion requires motor skills which can adapt to previously unseen situations. We propose a Multi-Expert Learning Architecture (MELA) that learns to ge…
Learning natural locomotion behaviors for humanoid robots using human knowledge
Chuanyu Yang, Kai Yuan, Shuai Heng +2
This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomoti…
Reaching, Grasping and Re-grasping: Learning Multimode Grasping Skills
Wenbin Hu, Chuanyu Yang, Kai Yuan +1
The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In th…
Learning Pregrasp Manipulation of Objects from Ungraspable Poses
Zhaole Sun, Kai Yuan, Wenbin Hu +2
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped fro…
Learning Whole-body Motor Skills for Humanoids
Chuanyu Yang, Kai Yuan, Wolfgang Merkt +3
This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, fo…
Emergence of Human-comparable Balancing Behaviors by Deep Reinforcement Learning
Chuanyu Yang, Taku Komura, Zhibin Li
This paper presents a hierarchical framework based on deep reinforcement learning that learns a diversity of policies for humanoid balance control. Conventional zero moment point b…