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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.RO2024
World Model-based Perception for Visual Legged Locomotion
Hang Lai, Jiahang Cao, Jiafeng Xu +5
Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning dire…