3 papers
cs.RO2025
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds
Dikai Liu, Tianwei Zhang, Jianxiong Yin +1
Quadrupeds have gained rapid advancement in their capability of traversing across complex terrains. The adoption of deep Reinforcement Learning (RL), transformers and various knowl…
cs.RO2024
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
Dikai Liu, Tianwei Zhang, Jianxiong Yin +1
With the rising focus on quadrupeds, a generalized policy capable of handling different robot models and sensor inputs becomes highly beneficial. Although several methods have been…
cs.SE2023
Towards Building AI-CPS with NVIDIA Isaac Sim: An Industrial Benchmark and Case Study for Robotics Manipulation
Zhehua Zhou, Jiayang Song, Xuan Xie +5
As a representative cyber-physical system (CPS), robotic manipulator has been widely adopted in various academic research and industrial processes, indicating its potential to act…