4 papers
Efficiently Learning Robust Torque-based Locomotion Through Reinforcement with Model-Based Supervision
Yashuai Yan, Tobias Egle, Christian Ott +1
We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of re…
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
Sait Sovukluk, Grazia Zambella, Tobias Egle +1
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-base…
I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning
Yashuai Yan, Esteve Valls Mascaro, Tobias Egle +1
Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challeng…
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region
Tobias Egle, Yashuai Yan, Dongheui Lee +1
This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturba…