Learning a locomotion policy for quadruped robots has traditionally been constrained to a
specific robot morphology, mass, and size. The learning process must usually be repeated …

In this paper, we consider a general task of jumping varying distances and heights for a
quadrupedal robot in noisy environments, such as off of uneven terrain and with variable …

Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot
control. The choice of dynamic models in trajectory optimization (TO) problems plays a huge …

Typical legged locomotion controllers are designed or trained offline. This is in contrast to
many animals, which are able to locomote at birth, and rapidly improve their locomotion …

Quadruped robots are showing impressive abilities to navigate the real world. If they are to
become more integrated into society, social trust in interactions with humans will become …

We present a framework for learning a single policy capable of producing all quadruped
gaits and transitions. The framework consists of a policy trained with deep reinforcement …

Animals possess a remarkable ability to navigate challenging terrains, achieved through the
interplay of various pathways between the brain, central pattern generators (CPGs) in the …

Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot
control. Realtime planning with full body dynamics over the entire jumping trajectory …