4 papers · 1 filter
UniCon: A Unified System for Efficient Robot Learning Transfers
Yunfeng Lin, Li Xu, Yong Yu +2
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these i…
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer
Yunfeng Lin, Minghuan Liu, Yufei Xue +4
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However…
PALo: Learning Posture-Aware Locomotion for Quadruped Robots
Xiangyu Miao, Jun Sun, Hang Lai +4
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control…
World Model-based Perception for Visual Legged Locomotion
Hang Lai, Jiahang Cao, Jiafeng Xu +5
Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning dire…