4 papers · 1 filter
Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment
Annie S. Chen, Govind Chada, Laura Smith +4
To succeed in the real world, robots must cope with situations that differ from those seen during training. We study the problem of adapting on-the-fly to such novel scenarios duri…
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
Hongbo Zhang, Zhongyu Li, Xuanqi Zeng +9
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while…
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation
Xiaoyu Huang, Qiayuan Liao, Yiming Ni +5
This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robot…
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Annie S. Chen, Alec M. Lessing, Andy Tang +4
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a leg…