7 papers · 1 filter
Spatiotemporal Agility: Time-Constrained Reinforcement Learning for Vision-Guided Dynamic Quadrupedal Interception
Yidong Zhu, Zibo Dai, Tongning Zhang +2
Legged robots require robust agility to perceive and interact with complex and dynamic environments within a constrained time. However, most existing quadruped locomotion works rel…
World Translation: Minimizing Sim-to-Real Gap with Backward Dynamics Extraction and Unpaired Domain Translation
Xinchen Yao, Leixin Chang, Hua Chen
The gap between simulation and reality remains a fundamental challenge in deploying simulation-trained robotic policies in the real world. Real-to-sim methods narrow this gap from…
Multi-Embodiment Robotic Retargeting via Guided Diffusion Model
Zhefeng Cao, Ben Liu, Shunpeng Yang +3
Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However,…
Where-to-Learn: Analytical Policy Gradient Directed Exploration for On-Policy Robotic Reinforcement Learning
Leixin Chang, Xinchen Yao, Ben Liu +2
On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy…
See Once, Then Act: Vision-Language-Action Model with Task Learning from One-Shot Video Demonstrations
Guangyan Chen, Meiling Wang, Qi Shao +10
Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated pro…
LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
Haokai Su, Haoxiang Luo, Shunpeng Yang +3
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptib…