Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

no code implementations • 29 Aug 2023 • Lei Han, Qingxu Zhu, Jiapeng Sheng, Chong Zhang, Tingguang Li, Yizheng Zhang, He Zhang, Yuzhen Liu, Cheng Zhou, Rui Zhao, Jie Li, Yufeng Zhang, Rui Wang, Wanchao Chi, Xiong Li, Yonghui Zhu, Lingzhu Xiang, Xiao Teng, Zhengyou Zhang

In this work, we propose a framework for driving legged robots act like real animals with lifelike agility and strategy in complex environments.

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Neural Categorical Priors for Physics-Based Character Control

no code implementations • 14 Aug 2023 • Qingxu Zhu, He Zhang, Mengting Lan, Lei Han

Although this prior distribution can be trained with the supervision of the encoder's output, it follows the original motion clip distribution in the dataset and could lead to imbalanced behaviors in our setting.

Reinforcement Learning (RL)