7 accepted papers
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework, a footstep planner and dynamic model designed using heurist…
This paper introduces DynaFlow, a novel framework that embeds a differentiable simulator directly into a flow matching model. By generating trajectories in the action space and mapping them to dynamically feasible state trajectories via the simulator, DynaFlow ensures all outputs are physically cons…
Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward tuning or high-quality demonstrations. Leveraging reduced-order
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework, a footstep planner and dynamic model designed using heurist
Dynamic rotational maneuvers, such as front flips, inherently involve large angular momentum generation and intense impact forces, presenting major challenges for reinforcement learning and sim-to-real transfer. In this work, we propose a general framework for learning and deploying impact-rich, rot…
This letter proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states parameterized by the friction coefficient in rigid body contact dy
In this work, we propose a novel differential dynamic programming (DDP) framework for systems involving contact with the ground. The approach converts a general constrained differential dynamic programming into contact-implicit one by incorporating contact dynamics in a linear complementarity proble…