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cs.RO2024
Online Time-Informed Kinodynamic Motion Planning of Nonlinear Systems
Fei Meng, Jianbang Liu, Haojie Shi +3
Sampling-based kinodynamic motion planners (SKMPs) are powerful in finding collision-free trajectories for high-dimensional systems under differential constraints. Time-informed se…
cs.RO2024
An Efficient Model-Based Approach on Learning Agile Motor Skills without Reinforcement
Haojie Shi, Tingguang Li, Qingxu Zhu +3
Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit t…