3 papers
cs.RO2025
LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots
Peilin Wu, Weiji Xie, Jiahang Cao +2
Reinforcement Learning (RL) has shown its remarkable and generalizable capability in legged locomotion through sim-to-real transfer. However, while adaptive methods like domain ran…
cs.RO2025
PALo: Learning Posture-Aware Locomotion for Quadruped Robots
Xiangyu Miao, Jun Sun, Hang Lai +4
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control…
cs.LG2024
Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective
Haoran He, Peilin Wu, Chenjia Bai +5
Reinforcement Learning (RL) has recently achieved remarkable success in robotic control. However, most works in RL operate in simulated environments where privileged knowledge (e.g…