57 citations · 58 across the 6 of their papers we have counts for
6 papers
Learning Terrain-Adaptive Locomotion with Agile Behaviors by Imitating Animals
Tingguang Li, Yizheng Zhang, Chong Zhang +5
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method c…
Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
Lei Han, Qingxu Zhu, Jiapeng Sheng +16
Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or r…
Learning Ball-balancing Robot Through Deep Reinforcement Learning
Yifan Zhou, Jianghao Lin, Shuai Wang +1
The ball-balancing robot (ballbot) is a good platform to test the effectiveness of a balancing controller. Considering balancing control, conventional model-based feedback control…
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning
Chong Zhang, Lizhi Yang
Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, w…
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles
Qi Wu, Chong Zhang, Yanchen Liu
Not until recently, robust bipedal locomotion has been achieved through reinforcement learning. However, existing implementations rely heavily on insights and efforts from human ex…
DROID: Minimizing the Reality Gap using Single-Shot Human Demonstration
Ya-Yen Tsai, Hui Xu, Zihan Ding +3
Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of…