6 citations · 12 across the 4 of their papers we have counts for
4 papers
Agile Continuous Jumping in Discontinuous Terrains
Yuxiang Yang, Guanya Shi, Changyi Lin +8
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuo…
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller
Yuxiang Yang, Guanya Shi, Xiangyun Meng +4
We present CAJun, a novel hierarchical learning and control framework that enables legged robots to jump continuously with adaptive jumping distances. CAJun consists of a high-leve…
Continuous Versatile Jumping Using Learned Action Residuals
Yuxiang Yang, Xiangyun Meng, Wenhao Yu +3
Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement lea…
Learning Semantics-Aware Locomotion Skills from Human Demonstration
Yuxiang Yang, Xiangyun Meng, Wenhao Yu +3
The semantics of the environment, such as the terrain type and property, reveals important information for legged robots to adjust their behaviors. In this work, we present a frame…