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cs.RO2022
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…
cs.RO2022
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…
cs.RO2022
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…