2 citations · 3 across the 8 of their papers we have counts for
9 papers
Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
Efe Ongan, Chong Zhang, Boyang Sun +3
Traversing sparse 3D structures requires humanoid robots to perceive thin, overhanging geometry while executing agile, accurate whole-body motions. We study this problem through mo…
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
Siyuan Luo, Bingyang Zhou, Chong Zhang +9
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck…
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Zewei Zhang, Kehan Wen, Michael Xu +7
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard pe…
Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
Chong Zhang, Victor Klemm, Fan Yang +1
Achieving agile and generalized legged locomotion across terrains requires tight integration of perception and control, especially under occlusions and sparse footholds. Existing m…
Attention-Based Map Encoding for Learning Generalized Legged Locomotion
Junzhe He, Chong Zhang, Fabian Jenelten +3
Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds ar…
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
Fan Shi, Chong Zhang, Takahiro Miki +3
Legged locomotion has recently achieved remarkable success with the progress of machine learning techniques, especially deep reinforcement learning (RL). Controllers employing neur…
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
Tairan He, Chong Zhang, Wenli Xiao +3
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either de…
Learning Agile Locomotion on Risky Terrains
Chong Zhang, Nikita Rudin, David Hoeller +1
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping sto…
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Jin Jin, Chong Zhang, Jonas Frey +4
Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh envir…