4 papers
KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
Peizhuo Li, Hongyi Li, Yuxuan Ma +8
Vision-based locomotion has shown great promise in enabling legged robots to perceive and adapt to complex environments. However, visual information is inherently fragile, being vu…
HeLoM: Hierarchical Learning for Whole-Body Loco-Manipulation by a Hexapod Robot
Xinrong Yang, Peizhuo Li, Hongyi Li +8
In nature, animals often need to move/manipulate objects comparable in weight/size to their own bodies. Compared to grasping and carrying, pushing provides a more straightforward a…
GPO: Growing Policy Optimization for Legged Robot Locomotion and Whole-Body Control
Shuhao Liao, Peizhuo Li, Xinrong Yang +7
Training reinforcement learning (RL) policies for legged robots remains challenging due to high-dimensional continuous actions, hardware constraints, and limited exploration. Exist…
SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
Peizhuo Li, Hongyi Li, Ge Sun +7
Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use p…