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Found 5 papers, 1 papers with code
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
In the second approach, we distill the specialist skills into a Transformer-based generalist locomotion policy, named Locomotion-Transformer, that can handle various terrains and adjust the robot's gait based on the perceived environment and robot states.
Learning and Adapting Agile Locomotion Skills by Transferring Experience
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running.
Inner Monologue: Embodied Reasoning through Planning with Language Models
We investigate a variety of sources of feedback, such as success detection, scene description, and human interaction.
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment.
Safe Reinforcement Learning for Legged Locomotion
In this paper, we propose a safe reinforcement learning framework that switches between a safe recovery policy that prevents the robot from entering unsafe states, and a learner policy that is optimized to complete the task.
