10 papers
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
Wenqi Ge, Junde Guo, Zhen Fu +3
Achieving everyday tasks with humanoid robots requires coordinating stable locomotion with versatile manipulation. However, existing whole-body controllers still face significant c…
Diffusion Policy through Conditional Proximal Policy Optimization
Ben Liu, Shunpeng Yang, Hua Chen
Reinforcement learning (RL) has been extensively employed in a wide range of decision-making problems, such as games and robotics. Recently, diffusion policies have shown strong po…
PolicyFlow: Policy Optimization with Continuous Normalizing Flow in Reinforcement Learning
Shunpeng Yang, Ben Liu, Hua Chen
Among on-policy reinforcement learning algorithms, Proximal Policy Optimization (PPO) demonstrates is widely favored for its simplicity, numerical stability, and strong empirical p…
LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
Haokai Su, Haoxiang Luo, Shunpeng Yang +3
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptib…
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Shunpeng Yang, Zhen Fu, Zhefeng Cao +4
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics.…
Multi-Embodiment Robotic Retargeting via Guided Diffusion Model
Zhefeng Cao, Ben Liu, Shunpeng Yang +3
Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However,…
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
Shunpeng Yang, Zejun Hong, Sen Li +3
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism f…
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang +2
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of tas…
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Hua Chen, Zejun Hong, Shunpeng Yang +2
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, ex…
Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
Shunpeng Yang, Hua Chen, Zhen Fu +1
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adj…