8 accepted papers
This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes. However, it is non-trivial to translate human language inst…
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, wh
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data fro…
Controlling the contact force during interactions is an inherent requirement for locomotion and manipulation tasks. Current reinforcement learning approaches to locomotion and manipulation rely implicitly on forceful interaction to accomplish tasks but do not explicitly regulate it. This paper propo…
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 opportunity to amplify the manipulation capabilities by conducting whole-body control. That is, the robot can control t…
DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans. We identify key challenges of in-the-wild soccer ball manipulation, including variable ball motion dynamics and perception using body…
To plan efficient robot locomotion, we must use the information about a terrain’s physics that can be inferred from color images. To this end, we train a visual perception module that predicts terrain properties using labels from a small amount of real-world proprioceptive locomotion. To ensure labe…
We address the problem of enabling quadrupedal robots to perform precise shooting skills in the real world using reinforcement learning. Developing algorithms to enable a legged robot to shoot a soccer ball to a given target is a challenging problem that combines robot motion control and planning in…