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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…
AGILE: A Comprehensive Workflow for Humanoid Loco-Manipulation Learning
Huihua Zhao, Rafael Cathomen, Lionel Gulich +6
Recent advances in reinforcement learning (RL) have enabled impressive humanoid behaviors in simulation, yet transferring these results to new robots remains challenging. In many r…
LEVA: A high-mobility logistic vehicle with legged suspension
Marco Arnold, Lukas Hildebrandt, Kaspar Janssen +15
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload…