4 papers
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
Yidan Lu, Yichao Zhong, Liu Zhao +2
We propose a unified reinforcement learning framework that enables a single policy to perform walking, running, and fall recovery on the Unitree G1 humanoid robot, validated on phy…
Learning Human-Like Badminton Skills for Humanoid Robots
Yeke Chen, Shihao Dong, Xiaoyu Ji +10
Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manip…
Like Playing a Video Game: Spatial-Temporal Optimization of Foot Trajectories for Controlled Football Kicking in Bipedal Robots
Wanyue Li, Ji Ma, Minghao Lu +1
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. C…
MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping
Yinzhao Dong, Ji Ma, Liu Zhao +2
Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills…