A multi-stage RL curriculum produces a unified whole-body controller enabling humanoid robots to sustain badminton rallies in simulation and return shuttles at up to 19.1 m/s in real hardware, with both EKF-based and prediction-free variants.
Athletic mobile manipulator system for robotic wheelchair tennis.IEEE Robotics and Automation Let- ters, 8(4):2245–2252, 2023
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Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning
A multi-stage RL curriculum produces a unified whole-body controller enabling humanoid robots to sustain badminton rallies in simulation and return shuttles at up to 19.1 m/s in real hardware, with both EKF-based and prediction-free variants.