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cs.RO2025
LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
Haokai Su, Haoxiang Luo, Shunpeng Yang +3
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptib…
cs.RO2024
CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion
Hongxi Wang, Haoxiang Luo, Wei Zhang +1
Thanks to recent explosive developments of data-driven learning methodologies, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem…
cs.RO2024
POMDP-Guided Active Force-Based Search for Robotic Insertion
Chen Wang, Haoxiang Luo, Kun Zhang +3
In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficien…