3 accepted papers
We study the problem of natural language-based control of dynamic bipedal locomotion from the perspective of operational robustness and hardware safety. Existing work on natural language-based robot control has focused on episodic command execution for stable robot platforms, such as fixed-based man…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively simple open-loop, perception-free scenarios. Our main contrib…
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full freedom of where to place the feet, resulting in highly robust…