Showing cs.ROShow all
3 papers · 1 filter
cs.RO2025
Dynamic Adaptive Legged Locomotion Policy via Decoupling Reaction Force Control and Gait Control
Renjie Wang, Shangke Lyu, Donglin Wang
While Reinforcement Learning (RL) has achieved remarkable progress in legged locomotion control, it often suffers from performance degradation in out-of-distribution (OOD) conditio…
cs.RO2025
Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
Renjie Wang, Shangke Lyu, Xin Lang +2
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies…
cs.RO2025
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality
Wei Xiao, Shangke Lyu, Zhefei Gong +2
Existing quadrupedal locomotion learning paradigms usually rely on extensive domain randomization to alleviate the sim2real gap and enhance robustness. It trains policies with a wi…