4 papers
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation
Chengbo Yuan, Suraj Joshi, Shaoting Zhu +3
Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as c…
MoE-Loco: Mixture of Experts for Multitask Locomotion
Runhan Huang, Shaoting Zhu, Yilun Du +1
We present MoE-Loco, a Mixture of Experts (MoE) framework for multitask locomotion for legged robots. Our method enables a single policy to handle diverse terrains, including bars,…
VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
Shaoting Zhu, Linzhan Mou, Derun Li +3
Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges whe…
Robust Robot Walker: Learning Agile Locomotion over Tiny Traps
Shaoting Zhu, Runhan Huang, Linzhan Mou +1
Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small o…