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cs.RO2025
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…
cs.RO2025
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…
cs.RO2025
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…