3 papers
cs.RO2026
Feasibility-Guided Planning over Multi-Specialized Locomotion Policies
Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala +6
Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion…
cs.RO2024
Benchmarking Smoothness and Reducing High-Frequency Oscillations in Continuous Control Policies
Guilherme Christmann, Ying-Sheng Luo, Hanjaya Mandala +1
Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, cate…
cs.RO2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots
Guilherme Christmann, Ying-Sheng Luo, Wei-Chao Chen
We propose the expert composer policy, a framework to reliably expand the skill repertoire of quadruped agents. The composer policy links pair of experts via transitions to a sampl…