Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.
Walk these ways: Tuning robot control for generalization with multiplicity of behavior
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Concurrent training of an Intrinsic Dynamics Head with a dynamics reward yields more efficient and smoother quadrupedal locomotion policies that transfer to real robots with 12-18% gains in efficiency metrics.
A hierarchical RL framework with an explicit mass estimation module enables dynamic concurrent locomotion and manipulation on a quadruped with arm, achieving 86% success in simulation up to 2.3 kg and 73% in real tests up to 1.3 kg across varied heights and object properties.
A single goal-conditioned RL policy trained on contact plans performs multiple gaits and bimanual manipulation tasks on quadruped and humanoid robots.
citing papers explorer
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Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.
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Dynamics Aware Quadrupedal Locomotion via Intrinsic Dynamics Head
Concurrent training of an Intrinsic Dynamics Head with a dynamics reward yields more efficient and smoother quadrupedal locomotion policies that transfer to real robots with 12-18% gains in efficiency metrics.
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Learning Dynamic Pick-and-Place for a Legged Manipulator
A hierarchical RL framework with an explicit mass estimation module enables dynamic concurrent locomotion and manipulation on a quadruped with arm, achieving 86% success in simulation up to 2.3 kg and 73% in real tests up to 1.3 kg across varied heights and object properties.
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Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
A single goal-conditioned RL policy trained on contact plans performs multiple gaits and bimanual manipulation tasks on quadruped and humanoid robots.