Manyquadrupeds: Learning a single locomotion policy for diverse quadruped robots

M Shafiee, G Bellegarda… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
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 …

Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains

M Shafiee, G Bellegarda, A Ijspeert - Nature Communications, 2024 - nature.com
Quadruped animals are capable of seamless transitions between different gaits. While
energy efficiency appears to be one of the reasons for changing gaits, other determinant …

Automatic environment shaping is the next frontier in rl

Y Park, GB Margolis, P Agrawal - arXiv preprint arXiv:2407.16186, 2024 - arxiv.org
Many roboticists dream of presenting a robot with a task in the evening and returning the
next morning to find the robot capable of solving the task. What is preventing us from …

Learning-based legged locomotion; state of the art and future perspectives

S Ha, J Lee, M van de Panne, Z Xie, W Yu… - arXiv preprint arXiv …, 2024 - arxiv.org
Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …

The future of the labor force: higher cognition and more skills

W Zhang, KH Lai, Q Gong - Humanities and Social Sciences …, 2024 - nature.com
Skills can be categorized into two types: social-cognitive and sensory-physical. Sensory-
physical skills, governed by explicit rules and transparent rationales, can be effectively …

An advanced reinforcement learning control method for quadruped robots in typical urban terrains

C Yan, N Wang, H Gao, X Wang, C Tang… - International Journal of …, 2024 - Springer
Quadruped robots, with their exceptional flexibility and stable structure, are highly suitable
for traversing the complex unstructured terrains in urban environments. However, the current …

Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion

D Liu, T Zhang, J Yin, S See - arXiv preprint arXiv:2409.03332, 2024 - arxiv.org
With the rising focus on quadrupeds, a generalized policy capable of handling different robot
models and sensory inputs will be highly beneficial. Although several methods have been …

Distilling Reinforcement Learning Policies for Interpretable Robot Locomotion: Gradient Boosting Machines and Symbolic Regression

F Acero, Z Li - arXiv preprint arXiv:2403.14328, 2024 - arxiv.org
Recent advancements in reinforcement learning (RL) have led to remarkable achievements
in robot locomotion capabilities. However, the complexity and``black-box''nature of neural …

Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning

V Atanassov, W Yu, AL Mitchell, MN Finean… - arXiv preprint arXiv …, 2024 - arxiv.org
Representation learning and unsupervised skill discovery can allow robots to acquire
diverse and reusable behaviors without the need for task-specific rewards. In this work, we …

Position: Automatic Environment Shaping is the Next Frontier in RL

Y Park, GB Margolis, P Agrawal - Forty-first International Conference on … - openreview.net
Many roboticists dream of presenting a robot with a task in the evening and returning the
next morning to find the robot capable of solving the task. What is preventing us from …