4 papers
Flip Stunts on Bicycle Robots using Iterative Motion Imitation
Jeonghwan Kim, Shamel Fahmi, Seungeun Rho +2
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we…
Partial Motion Imitation for Learning Cart Pushing with Legged Manipulators
Mili Das, Morgan Byrd, Donghoon Baek +1
Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. Howeve…
Switch4EAI: Leveraging Console Game Platform for Benchmarking Robotic Athletics
Tianyu Li, Jeonghwan Kim, Wontaek Kim +3
Recent advances in whole-body robot control have enabled humanoid and legged robots to execute increasingly agile and coordinated movements. However, standardized benchmarks for ev…
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
Seungeun Rho, Kartik Garg, Morgan Byrd +1
Exploration is crucial for enabling legged robots to learn agile locomotion behaviors that can overcome diverse obstacles. However, such exploration is inherently challenging, and…