3 papers
cs.RO2026
Agile perceptive multi-skill locomotion for quadrupedal robots in the wild
Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song +3
Enabling quadrupedal robots to traverse complex terrains-from rugged outdoor environments to urban landscapes-requires seamless integration of multiple motor skills, smooth transit…
cs.RO2025
Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model-Homotopy-Inspired Transfer
Dongyun Kang, Min-Gyu Kim, Tae-Gyu Song +3
Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing…
cs.RO2023
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion
Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji +1
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical…