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06/26/2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
Performing agile navigation with four-legged robots is a challenging tas...
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01/10/2023
ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments
We present ORBIT, a unified and modular framework for robot learning pow...
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09/26/2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End
The common approach for local navigation on challenging environments wit...
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06/16/2022
Neural Scene Representation for Locomotion on Structured Terrain
We propose a learning-based method to reconstruct the local terrain for ...
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03/29/2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments
Despite the progress in legged robotic locomotion, autonomous navigation...
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09/24/2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
In this work, we present and study a training set-up that achieves fast ...
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08/24/2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Isaac Gym offers a high performance learning platform to train policies ...
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03/18/2021
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
A kitchen assistant needs to operate human-scale objects, such as cabine...
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03/07/2021
Learning a State Representation and Navigation in Cluttered and Dynamic Environments
In this work, we present a learning-based pipeline to realise local navi...
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11/12/2020
Joint Space Control via Deep Reinforcement Learning
The dominant way to control a robot manipulator uses hand-crafted differ...
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09/21/2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
We present a hierarchical framework that combines model-based control an...
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03/06/2020
Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot
Model Predictive Control (MPC) is a powerful control technique that hand...
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10/08/2019
