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 …
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
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 …
energy efficiency appears to be one of the reasons for changing gaits, other determinant …
Automatic environment shaping is the next frontier in rl
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 …
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
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 …
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 …
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 …
for traversing the complex unstructured terrains in urban environments. However, the current …
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
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 …
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 …
in robot locomotion capabilities. However, the complexity and``black-box''nature of neural …
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
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 …
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
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 …
next morning to find the robot capable of solving the task. What is preventing us from …