7 papers
Game-Guided Skill Discovery through Self-Play for Playable Agent Control
Seungeun Rho, Jeonghwan Kim, Xue Bin Peng +1
We present Game-Guided Skill Discovery (GGSD), a framework that uses self-play in games to discover motor skills that are directly playable by humans. Playable skills provide a com…
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Zewei Zhang, Kehan Wen, Michael Xu +7
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard pe…
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation
Xiaoyu Huang, Qiayuan Liao, Yiming Ni +5
This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robot…
Language Guided Skill Discovery
Seungeun Rho, Laura Smith, Tianyu Li +3
Skill discovery methods enable agents to learn diverse emergent behaviors without explicit rewards. To make learned skills useful for unknown downstream tasks, obtaining a semantic…
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang +5
This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of d…
Learning and Adapting Agile Locomotion Skills by Transferring Experience
Laura Smith, J. Chase Kew, Tianyu Li +5
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly…
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
Laura Smith, J. Chase Kew, Xue Bin Peng +3
Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has bee…