4 citations · 4 across the 12 of their papers we have counts for
6 papers · 1 filter
Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations
Maximilian Stasica, Arne Bick, Nico Bohlinger +5
Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, rema…
Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization
Nico Bohlinger, Jan Peters
We present a single, general locomotion policy trained on a diverse collection of 50 legged robots. By combining an improved embodiment-aware architecture (URMAv2) with a performan…
Robust Localization, Mapping, and Navigation for Quadruped Robots
Dyuman Aditya, Junning Huang, Nico Bohlinger +5
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercia…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion
Nico Bohlinger, Jonathan Kinzel, Daniel Palenicek +2
On-robot Reinforcement Learning is a promising approach to train embodiment-aware policies for legged robots. However, the computational constraints of real-time learning on robots…
Massively Scaling Explicit Policy-conditioned Value Functions
Nico Bohlinger, Jan Peters
We introduce a scaling strategy for Explicit Policy-Conditioned Value Functions (EPVFs) that significantly improves performance on challenging continuous-control tasks. EPVFs learn…