5 papers
Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement
Xin Liu, Yulin Li, Ziming Li +7
Simulator-in-the-loop optimization offers a promising inference-time mechanism for robot manipulation. It uses a physical simulator as a backend rollout engine to evaluate candidat…
Learning Natural and Robust Hexapod Locomotion over Complex Terrains via Motion Priors based on Deep Reinforcement Learning
Xin Liu, Jinze Wu, Yinghui Li +3
Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the mult…
MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm
Xin Liu, Bida Ma, Chenkun Qi +14
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforc…
PPL: Point Cloud Supervised Proprioceptive Locomotion Reinforcement Learning for Legged Robots in Crawl Spaces
Bida Ma, Nuo Xu, Chenkun Qi +4
Legged locomotion in constrained spaces (called crawl spaces) is challenging. In crawl spaces, current proprioceptive locomotion learning methods are difficult to achieve traverse…
Ask1: Development and Reinforcement Learning-Based Control of a Custom Quadruped Robot
Yang Zhang, Yuxing Lu, Guiyang Xin +4
In this work, we present the design, development, and experimental validation of a custom-built quadruped robot, Ask1. The Ask1 robot shares similar morphology with the Unitree Go1…