8 papers
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Liang Wang, Kanzhong Yao, Yang Liu +4
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appro…
CycleRL: Sim-to-Real Deep Reinforcement Learning for Robust Autonomous Bicycle Control
Gelu Liu, Teng Wang, Zhijie Wu +3
Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinea…
GUIDE: Goal-Initialized Directional Understanding for End-to-End Visual Navigation
Liang Wang, Jin Jin, KanZhong Yao +6
Learning-based visual navigation for legged robots typically relies on continuous goal updates from hierarchical state estimation to provide a persistent directional reference. Thi…
SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World
Ruiqi Yu, Yiwen Wang, Yuan Hao +2
Extending humanoid traversal to the open world is key to practical deployment in human environments, but remains challenging. The robot must use vision to ensure safe and reliable…
Look Forward to Walk Backward: Efficient Terrain Memory for Backward Locomotion with Forward Vision
Shixin Luo, Songbo Li, Yuan Hao +4
Legged robots with egocentric forward-facing depth cameras can couple exteroception and proprioception to achieve robust forward agility on complex terrain. When these robots walk…
START: Traversing Sparse Footholds with Terrain Reconstruction
Ruiqi Yu, Qianshi Wang, Hongyi Li +4
Traversing terrains with sparse footholds like legged animals presents a promising yet challenging task for quadruped robots, as it requires precise environmental perception and ag…