9 citations · 9 across the 4 of their papers we have counts for
7 papers · 1 filter
Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space
Zeren Luo, Jiahui Zhang, Yimin Han +4
Although legged animals are capable of performing explosive motions while traversing confined spaces, replicating this behavior in quadrupedal robots has been a longstanding challe…
MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces
Zeren Luo, Jiahui Zhang, Zhe Xu +6
Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetary exploration. While bipedal robots hold immense potential, their lo…
Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons
Anthony Liang, Yigit Korkmaz, Jiahui Zhang +14
General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effecti…
Co-jump: Cooperative Jumping with Quadrupedal Robots via Multi-Agent Reinforcement Learning
Shihao Dong, Yeke Chen, Zeren Luo +8
While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundari…
Learning Human-Like Badminton Skills for Humanoid Robots
Yeke Chen, Shihao Dong, Xiaoyu Ji +12
Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manip…
FR-Net: Learning Robust Quadrupedal Fall Recovery on Challenging Terrains through Mass-Contact Prediction
Yidan Lu, Yinzhao Dong, Jiahui Zhang +2
Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interact…
Learning an Adaptive Fall Recovery Controller for Quadrupeds on Complex Terrains
Yidan Lu, Yinzhao Dong, Ji Ma +2
Legged robots have shown promise in locomotion complex environments, but recovery from falls on challenging terrains remains a significant hurdle. This paper presents an Adaptive F…