Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General
Intelligence (AGI) and serves as a foundation for various applications that bridge cyberspace …

Parkour is a grand challenge for legged locomotion that requires robots to overcome various
obstacles rapidly in complex environments. Existing methods can generate either diverse …

We study the problem of mobile manipulation using legged robots equipped with an arm,
namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an …

We present CAJun, a novel hierarchical learning and control framework that enables legged
robots to jump continuously with adaptive jumping distances. CAJun consists of a high-level …

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 …

This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled
bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a …

The agility of animals, particularly in complex activities such as running, turning, jumping,
and backflipping, stands as an exemplar for robotic system design. Transferring this suite of …

We present SLoMo: a first-of-its-kind framework for transferring skilled motions from casually
captured “in-the-wild” video footage of humans and animals to legged robots. SLoMo works …

Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …

Controlled execution of dynamic motions in quadrupedal robots, especially those with
articulated soft bodies, presents a unique set of challenges that traditional methods struggle …