25 citations · 29 across the 7 of their papers we have counts for
4 papers · 1 filter
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
Hongbo Zhang, Zhongyu Li, Xuanqi Zeng +9
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while…
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation
Xiaoyu Huang, Qiayuan Liao, Yiming Ni +5
This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robot…
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Annie S. Chen, Alec M. Lessing, Andy Tang +4
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a leg…
Language Guided Skill Discovery
Seungeun Rho, Laura Smith, Tianyu Li +3
Skill discovery methods enable agents to learn diverse emergent behaviors without explicit rewards. To make learned skills useful for unknown downstream tasks, obtaining a semantic…