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cs.RO2023
A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning
Hongyin Zhang, Shuyu Yang, Donglin Wang
Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning…
cs.RO2022
Imitation and Adaptation Based on Consistency: A Quadruped Robot Imitates Animals from Videos Using Deep Reinforcement Learning
Qingfeng Yao, Jilong Wang, Shuyu Yang +4
The essence of quadrupeds' movements is the movement of the center of gravity, which has a pattern in the action of quadrupeds. However, the gait motion planning of the quadruped r…
cs.RO2022
A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control
Qingfeng Yao, Jilong Wan, Shuyu Yang +4
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadrup…